Transmission devices

ABSTRACT

A transmission device includes a first element having rolling surfaces of revolution on a first axis, a second element having surfaces of revolution on a second axis intersecting the first axis at an acute angle equal to or slightly larger than an apex half-angle of each of a pair of generally conical surfaces on one of the elements. The rolling surfaces of both elements are symmetrically disposed axially on each side of the point of intersection. The second element is mounted such that its axis may perform conical movement about the axis of the other element. The second element may be allowed a degree of freedom to pivot about the point of intersection of the axes and in the plane containing the axes, so that during operation of the device, a gyroscopic couple of the body causes it to pivot so that the cone surfaces and their respective rolling surfaces come into rolling engagement at points one each side of the point of intersection of the axes. Alternatively, the same gyroscopic couple may be used to counterbalance forces by which the rolling surfaces are held in frictional contact by mechanical means where no pivotal freedom is provided. The annular rolling surfaces may be axially movable apart to alter the transmission ratio. Drive input and output means are coupled to either the rotation of the body about its axis, rotation of the second element conically about the point on the first axis and circumferentially of the longitudinal axis, or the rotation of the rolling surfaces about their axes. Two or more rotating units may be coupled together in such a way that the resultant or composite moment along the axis of the transmission is zero.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation-in-part of U.S. application Ser. No.598,625 filed on July 24, 1975 by the present inventor, now abandoned.

BACKGROUND OF THE INVENTION

This invention relates to transmission devices. More particularly theinvention relates to transmission devices of the type including a frame,a first element having a first axis fixed relative to the frame, and asecond element rotatable about a second axis intersecting the firstaxis, the second axis being arranged for nutation about the first axiswith the apex of the cone of nutation being the point of axesintersection. The first element has rolling surfaces of revolutiondisposed about the first axis and the second element has rollingsurfaces of revolution disposed around the second axis. Provision ismade for bringing the rolling surfaces of revolution around the axesinto rolling engagement and drive input or output means is connected toat least one of the first and second elements.

In U.S. Pat. No. 3,955,432 issued May 11, 1976 to the present inventor,there is disclosed a transmission having a first element defining a pairof rolling surfaces of revolution about a first axis, a second elementhaving a pair of rolling surfaces of revolution on a second axisintersecting the first axis and including a mechanical system for urgingthe rolling surfaces of the second element against those of the firstelement, which system is gyroscopic in origin. Specifically, gyroscopicmeans are associated with the second element to develop a gyroscopiccouple which acts to retain the rolling surfaces of the second elementagainst the rolling surfaces of the first element at two points locatedone on each side of a plane perpendicular to the first axis at the pointof intersection thereof with the second axis. The gyroscopic forces thusdeveloped are a combined function of the moment of inertia of the secondelement with respect to the second axis, the angle at which the firstand second axes intersect, the rotational velocities of the secondelement around the second axis and nutational velocity of the secondaxis around the first axis. In this transmission, the gyroscopic forcecouple operates to both rock the second element around the point of axesintersection and maintain both rolling surfaces of the second elementagainst both such surfaces of the first element in rolling frictioncontact.

To vary the ratio of input and output speeds of the transmissiondisclosed in this patent, provision is made to modify the angle ofinclination of the second axis with respect to the first axis. As aresult, the ratio of the radii of circles described by the points ofrolling surface contact between the first and second elements,respectively, will be modified. Such a transmission is particularly wellsuited for the transmission of large forces due to the development ofnormal contact pressure by the gyroscopic forces while avoidingexcessive axial forces on the transmission gear shafts as well as radialforces on the bearing supporting the second element.

Although the transmission disclosed in U.S. Pat. No. 3,955,432 possessesmany desirable features, it is subject to certain drawbacks particularlywhen it necessary to vary the input and output speeds of thetransmission over large ranges. This drawback is due primarily to thenecessity for variation of the angle of inclination of the second axiswith respect to the first axis. In other words, to obtain the rotarymotion of the second element about its own axis as well as nutationalmovement of the second axis about the first axis, it is necessary toemploy relatively complex mechanical coupling connections to the secondelement such as homokinetic joints, etc. In addition, the transmissionof this patent is subject to drawbacks when the rotational velocity ofthe second axis about the first axis varies through transient ranges.During these transient ranges, the gyroscopic couple assumes valuesdifferent from the nominal value in normal operation. The result is thatthe normal force creating the contact pressure deviates from its optimumvalue in such transient ranges. Although this drawback is of minorimportance when the transmission operates continuously under normalconditions, it becomes a more serious problem when the transient rangesare more frequently incurred.

In U.S. Pat. Nos. 2,319,319, 2,405,957 and 2,535,409 transmissiondevices are described which comprise a plurality of second elementswhich are conical and convex in form and arranged in satellite mannerabout a first axis. The rolling surfaces of revolution formed on theseconical elements are held in contact with an annular, toric, concavepart at points of contact identical in number to the number of conicalsatellite elements. Each of these conical satellites is supported eitherat its two extremities by bearings located inside support plates havingas their axis the first axis, as in U.S. Pat. No. 2,319,319, or at itssmall conical extremity by bearings located inside a support platehaving as its axis the first axis, as in U.S. Pat. Nos. 2,405,957 and2,535,409.

The pressure at the point of contact between the various conicalsatellites and the toric ring with which they cooperate is obtained bythe combined effect of the centrifugal force acting on the conicalsatellites when the support plate or plates rotate and by a possibleadditional force applied radially to each of the satellites, such assprings, for example. In the transmission devices described in U.S. Pat.Nos. 2,319,319 and 2,405,957, the bearings are rotatably mounted insidethe support plate so as to permit the satellite a certain degree ofliberty in a radial plane. This arrangement allows the conical satelliteto abut on the toric ring under the action of centrifugal force. In thetransmission described in U.S. Pat. No. 2,535,409, the bearing in thesupport plate is blocked by means of a wedge system of such dimensionsthat it presses the conical satellites against the toric ring with acontact force which allows the transmission device to function in theabsence of centrifugal force.

The concave toric ring is movable along its longitudinal axis, i.e.along the first axis, so as to modify the ratio of the radius R¹ of thecircles described by the points of contact on the reaction surfaces ofthe satellites to the constant radius R² of the circles described by thepoints of contact of the reaction surface of the toric ring.

The rotation of the satellite support plate or plates draws each ofthese satellites in a movement around the surface of a cone with an apexangle a and having as its axis the first axis. Each of these satellitesabuts on the rolling surface of the ring at a single point of contact.As the ring is immobile, when rotating about the axis of the ring (thefirst axis), the satellites react by starting to turn on themselvesabout their own axis (the second axis). The combination of the drivingspeed of the conical movement of each of these satellites and itsrotational speed about its own axis is transmitted, by a planetarygeartrain, to a drive transmission shaft coaxial with the first axis.

The transmission devices of these last mentioned U.S. patents have thefollowing features:

(a) The force perpendicular to the rolling surfaces and exerted at thepoint of contact is minimum when the R¹ :R² ratio is high (point ofcontact at the large base of the cone, large contact surface), and ismaximum when the R¹ :R² ratio is low (point of contact at the small baseof the cone, small contact surface). This results in considerablevariations in the specific contact pressure.

(b) The axial and radial reaction forces balancing out the contactpressure are accommodated by the bearing blocks supporting the conicalsatellites. These forces are directed in one direction or the other,depending on whether the points of contact are located on one side orthe other of the satellite center of gravity. These forces are generallyconsiderable, as they are of the same order of magnitude as theperpendicular contact force. The result is that the bearing blockssupporting the satellites must be designed and dimensioned so as toaccommodate substantial forces during operation. Accordingly, it isdifficult to exert very large forces at the point of contact.

(c) In addition to the centrifugal force which helps to keep the conicalsatellite lying in frictional rolling contact with the toric ring, agyroscopic couple is also generated. In the case of these knowntransmission devices, this couple produces an undesirable effect, as itsinfluence reduces the pressure at the point of contact and increases theradial force to be accommodated by the bearing blocks supporting theconical satellites.

SUMMARY OF THE INVENTION

The aim of the invention is to eliminate or at least substantiallyreduce the drawbacks mentioned hereinbefore while retaining theadvantages of transmission devices of these general types. Moreparticularly, the invention concerns a transmission of these generaltypes comprising a new mechanism for varying the speed ratio of thetransmission.

According to the invention, there is provided a transmission devicehaving a frame, a first element having a first axis fixed relative tothe frame, and a second element rotatable about a second axisintersecting the first axis at a point thereon, the second axis beingdriven conically about the point on the first axis and circumferentiallyof the first axis. The first element has a pair of rolling surfaces ofrevolution disposed about the first axis, one on each side of a planepassing through the point of intersection of the axes and perpendicularto the first axis. The second element has a pair of rolling surfaces ofrevolution disposed about the second axis, one on each side of anotherplane passing through the point of intersection of the axes andperpendicular to the second axis. The rolling surfaces of revolution ofone of the elements are essentially the surfaces of cones having an apexhalf-angle substantially equal to or less than the angle of intersectionof the first and second axes. Drive input or output means is connectedto at least one of said first and second elements.

The transmission of the present invention comprises also a mechanicalsystem for creating the pressure contact between the rolling surfaces.This mechanical system may be realized in different ways. Preferentiallythis mechanical system comprises gyroscopic means or is associated withgyroscopic means. In fact, a complementary aim of the present inventionis the advantageous deployment of the inertia phenomenon which occur ina body moving about a fixed point, the classic example of suchphenomenon being identified in the operation of a gyroscope. The secondelement in the transmission of the invention is a body having arotational movement about its axis (the second axis), such axis in turnhaving a conical rotation movement about the first axis (normally thegeneral transmission axis), with the apex of such conical movement onthe point of intersection of the two axes. This cone of movement isgenerally termed the cone of nutation.

The elemental inertia forces generated in the mass of the second elementmay be reduced--using the general laws of mechanics--to a couple and anapplied force at the point of intersection of the axes.

(a) The applied force:

When the center of gravity of the second element substantially coincideswith the point of intersection of the axes, the applied force issubstantially zero. In the opposite case, the applied force is a turningforce located in the plane perpendicular to the general transmissionaxis (the first axis). According to a preferred feature of the presentinvention therefore, the center of gravity of the second element is ator adjacent to the point of intersection of the axes so as to limit theintensity of the applied force.

It should be noted, on the other hand, that in the case of thetransmission devices described in the above-mentioned U.S. patents, thecenter of gravity of the second element is very remote from the point ofintersection of the axes, so as to create the greatest possible appliedforce. In fact, in the known transmission devices, it is chiefly becauseof this applied force that the second element is kept in rollingfrictional contact with the first element.

(b) The couple:

The gyroscopic couple may be mathematically represented by a vector, thedirection of which is perpendicular to the plane containing the firstand second axes. Accordingly, this couple has the effect of pivoting thesecond element about an axis perpendicular to the plane containing thefirst and second axes.

In accordance with another desired feature of the invention, the secondelement is a substantially solid body rotating about the second axishaving a transverse plane of symmetry perpendicular to the second axisat the point of intersection of the axes.

By applying the classic laws of the mechanics of solids, it is possibleto calculate the moment of this couple (i.e. the modulus of the vector)in the case of a rotating solid body. This moment is given by thefollowing formula:

    CI=(I.sub.1 -I.sub.3)Wa.sup.2 sin a cos a-I.sub.3 Wa(Wa-Wb) sin a

In this formula:

I₁ and I₃ designate the moments of inertia of the second elementrelative to the second axis and relative to an axis passing through thepoint of intersection of the axes and perpendicular to the second axis;

a designates the angle of inclination of the second axis relative to thefirst axis;

Wa designates the angular velocity of the second element about the firstaxis; and

Wb designates the angular velocity of the second element about thesecond axis in a frame of reference which is fixed relative to theassembly.

The notation Wb*, though not used in the formula, but which will also beused below, designates the angular velocity of the second element aboutthe second axis in a frame of reference which is linked to the rotatingplane containing the first and second axes. Thus, in terms of Wb* andWb, Wb*=Wb-Wa.

Similarly, the notation W, where used hereinafter, designates thevelocity of the first element about the first axis.

The formula gives the intensity of the moment of the gyroscopic coupleresulting from the total inertia forces. The formula is written in twoparts so as to show, in the first part, the contribution made by inertiaeffects which may be termed "centrifugal". In fact, when Wa=Wb, thesecond part of the expression disappears, leaving only the first part,independent of the value of the angular velocity of the second elementabout its rotational axis (the second axis).

It should be generally noted that, in transmission devices according tothe invention, Wa≠Wb (Wb*≠0).

The expression for the moment of the gyroscopic couple is an algebraictotal. Consequently and depending on the value of each of theparameters, this couple may either act in a direction to press thesecond element against the first, or, on the other hand, act in adirection tending to oppose movement of the second element against thefirst.

In other words, the different parameters, such as the shape of thesecond element affecting (I₁, I₃), the angular velocity (Wa, Wb), andthe angle of conical movement a for each embodiment, may be proportionedso as to obtain a couple with an intensity equal to that needed to holdthe second element in place against the first and variable in proportionto the power to be transmitted by the transmission device.

Calculation of the structural and kinematic parameters of theaforementioned second element to determine the gyroscopic propertiesthereof and in particular, the direction and intensity of the forcecouple developed by movement of the second element, lies within thecapability of one skilled in the art relating to the gyroscopic devicesby direct application of the aforementioned formula. In accordance withone of the basic principles underlying the present invention, therefore,the direction and intensity of the gyroscopic force couple are selectedeither to hold directly the force transmitting rolling surfaces of therespective first and second elements one against the other or tocounter-balance the forces under which such surfaces are held oneagainst the other by mechanical means incorporated in certainembodiments of the invention.

It is contemplated that many embodiments of the present invention arepossible and may differ in that the direction of the gyroscopic coupleis employed to retain the respective rolling surfaces of the first andsecond element one against the other or in that the same couple isdeployed to counter-balance the forces by which said rolling surfacesare retained against each other. In the preferred embodiments of thepresent invention, however, one of the elements is of generallybiconical configuration to establish generally conical surfaces ofrevolution symmetrical about a transverse axis passing through the axesof intersection of the first and second elements, each such conicalsurface having an apex half-angle no greater than the angle at which theaxes of the first and second elements intersect.

It is not essential for the second element to be located inside thefirst element or that the second element be convex and the first elementconcave in the transverse plane. A transmission device is contemplatedaccording to the invention wherein the first element is located insidethe second element, i.e. a transmission device wherein the rollingsurfaces of the first element are generally convex in shape and those ofthe second element are generally concave in shape in the transverseplane. Similarly, a transmission device according to the invention mightbe such that, in a meridian plane (i.e. a radial plane including thefirst axis), the general forms of the rolling surfaces would be concaveor convex rather than linear. In other words, a surface which may appeargenerally conical in illustrative drawings is not restricted to thesurface generated solely by revolution of a straight line, but rather isinclusive of surfaces which may be slightly convex or concave, such aswhere the generatrix of the surface is a curve. Such convex or concavesurfaces may be employed so long as they permit the transmission ratioto be varied without changing the angle of inclination of the axis ofthe second element with respect to the axis of the first. When used inthis specification and claims, therefore, a reference to cones or toconical surfaces shall be construed as embracing not only cones whosesurface is linear but convex or concave subject to the foregoinglimitation. In the case of such convex or concave surfaces, the apexhalf-angle of the cone shall be treated as the average value of theangle of the tangents to the generatrix of each said surface withrespect to the axis of revolution of the surface.

The choice of the radii of curvature of the reaction surfaces in thetransverse and meridian planes, all other factors being equal, permitsranges of variation in output velocity which are different for a givenbreadth of variation of the ratio (R1/R2), different laws of variationof the power transmitted as a function of the output velocity, anddifferent load transmissions. Thus, it is possible to adapt atransmission device according to the invention to the desired operatingconditions.

Although it is obviously necessary for the transmission device tocomprise at least two drive transmission shafts, one for input and onefor output, it is not essential that these drive transmission shafts berotatably connnected to the first and second elements respectively. Infact, it is perfectly possible for one of the drive transmission shaftsto be linked to the rotational movement of angular velocity Wb* of thesecond element about its axis (i.e. the second axis) and for the otherdrive transmission shaft to be linked to the rotation, of angularvelocity Wa, of the second element about the first axis (i.e. the secondaxis about the first axis).

The first element may be either fixed, or rotatable about the firstaxis. If it is necessary for the second element to be rotatable, with avelocity Wa, about the first axis, it is still not essential for thefirst element to be rotatable about this axis. By contrast, it shold benoted that where the first element is rotatable about the first axis, itis possible to link it rotatably to a drive transmission shaft and toblock the rotation of the drive transmission shaft linked to themovement of rotation, of angular velocity Wb*, of the second elementabout its axis (i.e. the second axis).

The first and second elements could be linked in other different ways todrive transmission shafts. It should be specified here that theexpression "rotatably linked," as used in the present description and inthe claims, refers to identical angular velocities or angular velocitiesin a given constant ratio or in a given variable ratio, while theexpression "mounted for rotation with" refers to identical angularvelocities.

According to a further subsidiary feature of the invention, the drivetransmission shaft (the first shaft) may be rotatably linked to thesecond element by providing the first drive transmission shaft with asingle truncated cylindrical part having as its axis the said firstaxis, and having at each end a respective support plate, the secondelement being provided with a pair of coaxial half shafts fixed relativethereto and rotatably supported in bearings on the respective supportplates, the axis of the half shafts being the said second axis.Preferably in this embodiment, the bearings in which the two half-shaftsare supported are mounted inside sleeves which are prismatic in theirexternal shape. The sleeves are mounted in said support plates with playin the plane containing the first and second axes, and withsubstantially no play in the direction perpendicular to this plane,whereby the second element is mounted on the support plates with asufficient degree of freedom for it to be able to pivot about an axisperpendicular to the plane containing the first and second axes to bringthe rolling surfaces of said first and second elements into engagement.

In another embodiment and according to another subsidiary feature of theinvention, the first shaft is rotatably linked to the second element inthat the first drive transmission shaft includes a first support platehaving as its axis the first axis, and being immovably secured to oneend of a support shaft having as its axis the second axis. The other endof the support shaft is immovably secured to a second support platefreely pivotable about the first axis independently of said firstsupport plate, the second element being freely rotatable about thesupport shaft. Preferably in this embodiment, the support shaft passesthrough bearings mounted in a cage which is prismatic in its externalform, and in turn mounted in said second element with play in the planecontaining said first and second axes, but with no substantial play inthe direction perpendicular to this plane, whereby the second element ismounted on the support shaft with a sufficient degree of freedom for itto pivot about an axis perpendicular to the plane containing the firstand second axes.

When the second element is movable by rotation, with a velocity Wb*about the second axis, it may be rotatably linked to a second shaft indifferent ways, and all the more simply because the angle of inclinationa of the second axis relative to the first axis is substantiallyconstant (excluding the adequate play in certain embodiments giving thesecond element the required degree of freedom in the radial plane). Itmay be rotatably linked to the second shaft via a gear-train, constantvelocity joint, etc.

More particularly, in certain embodiments a linking gear-train comprisesthree conical convex gears having a common apex at the point ofintersection of the first and second axes, a first of such gears havingas its axis the second axis and being mounted for rotation with thesecond element about the second axis, a second of the gears meshing withthe first, and being carried by a shaft on an axis passing through thepoint of intersection of the first and second axes, the shaft beingrotatably mounted by bearings in a satellite support plate in turnrotatable about the first axis. The third of the gears meshes with thesecond gear and has as its axis the first axis. The third gear iscarried by a second drive transmission shaft.

In other embodiments, the linking gear-train comprises two conicalconvex gears having a common apex at the point of intersection of thefirst and second axes, a first of these gears having as its axis thesecond axis and being mounted for rotation with the second element aboutthe second axis. The second of the gear meshes with the first and has asits axis the first axis, the second gear being borne by the second drivetransmission shaft.

In a still further embodiment, the linking gear-train includes twoconical gears having a common apex at the point of intersection of thefirst and second axes, a first of the gears being convex and having asits axis the second axis, such first gear being mounted for rotationwith the second element about said second axis. The second of thesegears meshes with the first and is concave. The second gear has as itsaxis the first axis and is mounted for rotation with the second drivetransmission shaft.

In a still further alternative arrangement, drive transmission shaftsare respectively rotatably linked to the angular velocity of the firstelement about the first axis, the angular velocity of the second elementabout the second axis, and the angular velocity of nutation of thesecond axis about said first axis, rotational coupling means beingprovided between at least two of the shafts.

Such coupling means should be understood in the broadest possible senseof the term. They may comprise, in particular, gear-trains or any otherappropriate means enabling the velocities to be linked in a fixed orvariable ratio.

These coupling means have particular advantages in the effectivedeployment of the gyroscopic force couple. As is well known, thegyroscopic couple varies as a function of the angle a and the velocitiesof the second element about the second axis, and the second axis aboutthe first axis. Consequently, the coupling means enable the evolution ofthe gyroscopic couple to be modified as a function of the outputvelocity, thus making it possible to obtain available output coupleswhich are better adapted to different uses (constant couple, constantpower, etc.).

In order to permit continuous variation of the ratio of change of theoutput velocities relative to the input velocities, the transmissiondevice also comprises a means to move the rolling surfaces of at leastone of the two pairs axially relative to one another. Operation of thismeans is simplified because the angle of inclination a of the secondaxis relative to the first axis is substantially constant and equal tothe apex half-angle of the conical surfaces.

In a particular variant, in order to make construction of this meanssimpler, the first element comprises two parts axially movable relativeto each other and on which the two rolling surfaces of the first elementare formed, the two parts of the first element being mounted in slidablefashion in a support casing having as its axis said first axis. Themeans for varying the relative axial position of the two reactionsurfaces of the first element comprises a rod parallel to the firstaxis, such rod having two indentical portions of opposite thread andbeing rotatable about its axis by a control member. This embodiment isparticularly suitable when the first element is rotatable about thefirst axis and is rotatably linked to a third drive transmission shaft.In this case, it is sufficient to link a support casing in rotationalmanner with the third shaft. Advantageously, the control means effectingaxial displacement of the rolling surfaces of the first element byrotating the rod may be an electric motor.

The invention also contemplates a transmission system comprising atleast two transmission devices wherein the transmission devices arecoupled in such a way that the resultant of the gryoscopic couples towhich the second elements of the transmission devices are subjected issubstantially zero. Preferably in this case, three transmissions aremounted in a star shape at intervals of 120° about a general axis of thetransmission system, the two movable rolling surfaces of the firstelements being common and blocked against rotation on the frame aboutthe said general axis.

In each of the previously mentioned embodiments, at least one of theelements is generally biconical in shape, the respective conical rollingsurfaces thus provided on such one element having an apex whosehalf-angle approximates the angle of inclination of the second axis withrespect to the first axis. Due to this arrangement, the angle ofinclination of the second axis with respect to the first axis isessentially constant so that the transmission ratio may be varied bymovement of the rolling surfaces of the first and second elementsaxially with respect to each other by sliding them along the generatrixof the cone which is essentially parallel to the corresponding axis ofrevolution. Nevertheless, it is important in the foregoing embodimentsthat the second element possess a certain degree of freedom in adirection parallel to the plane containing the first axis and the secondaxis so that it may be able to pivot against the rolling surface of thefirst element when it is influenced by the gyroscopic forces.

In a further variation of the invention, the necessity for play in thebearing support for the second element is avoided by employing means forsupporting the second element and for fixing the angle of inclination awithout any degree of freedom and by employing mechanical means todevelop the contact forces by which the respective rolling surfaces areurged into rolling friction engagement and deploying the aforementionedgyroscopic force couple to counterbalance these contact forces. Thus,all of the advantages of the previous embodiments may be retained butwith a greatly simplified and more durable bearing system.

As mentioned above, the deployment of the gyroscopic force couple,particularly the effective direction thereof, is accounted for bycalculation of the structural and kinematic parameters of the secondelement. The mechanical system to develop the force necessary to retainthe rolling surfaces of the respective first and second elements infrictional contact may take a variety of forms. Generally, such systemsare predicated on the ability of relative axial movement of the pointsof rolling surface contact between the first and second elements anddevelop a radial force component as a result of the relative axialmovement.

It will be appreciated that axial positioning of the points of rollingsurface contact may be achieved by (1) actuating the rolling surfaces ofthe second element, (2) actuating the rolling surfaces of the firstelement or (3) actuating the rolling surfaces of both elementssimultaneously. Such actuation, in turn, may be achieved in severalways, for example:

(a) The mechanical system may be an inertial system, particularly of atype comparable to the gyroscopic means described above. In this case,the geometry of annular rings defining the rolling surfaces on thesecond element and movable with respect thereto and the profile of therolling surfaces of the first element are fitted in such a manner as tocreate two axial forces which are capable of actuating the rollingsurfaces of the second element towards the rolling surfaces of the firstelement with an intensity that is sufficient to exert the specificcontact pressure necessary.

(b) The mechanical system may be composed of two elastic systems inwhich case, the contact pressure created by the elastic system isindependent of operational conditions during transient ranges.

(c) The mechanical system may be also composed of a systems of rampsforming part of a shaft that is coaxial with the element considered andworks together with the complementary ramps of the rolling surfaces ofthis element. In this case, these ramps may be helicoidal.

Several embodiments of the invention are described below, by way ofexample, and with reference to the accompanying drawings, in which likeparts are designated by like reference numerals.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an axial section of a first embodiment of a transmissiondevice according to the invention;

FIG. 2 is a transverse section on the line II--II in FIG. 1;

FIG. 3 is an axial section of a second embodiment of a transmissiondevice according to the invention;

FIG. 4 is an axial section of a third embodiment of a transmissiondevice according to the invention;

FIG. 5 is an axial section of a fourth, embodiment of a transmissiondevice according to the invention;

FIG. 6 is a transverse section on the line III--III in FIG. 5;

FIG. 7 is a persepective view of the transmission device shown in FIGS.1 and 2;

FIG. 8 is a perspective view of the transmission device shown in FIGS. 5and 6;

FIG. 9 is a longitudinal section, cut by a plane passing through thefirst and second axes, of another alternative embodiment of theinvention;

FIG. 10 is a cross-section on line 10--10 of FIG. 9;

FIG. 11 is a longitudinal section, cut by a plane passing through thefirst and second axes, of a further embodiment like that of FIG. 9 butwith an inertial mechanical system;

FIG. 12 is a force diagram illustrating operation of the inertialmechanical system illustrated in FIG. 11;

FIG. 13 is a longitudinal section, cut by a plane passing through thefirst and second axes, of a still further constructional variationcomprising a mechanical system composed of a system of helical ramps;

FIG. 14 is a cross-section on line 14--14 of FIG. 13;

FIG. 15 is a longitudinal section, cut by a plane passing through thefirst and second axes of still another constructional variationcomprising another mechanical system of helixes;

FIG. 16 is a perspective view of the maneuvering component of thevariation shown in FIG. 15;

FIG. 17 is a longitudinal section, cut by a plane passing through thefirst and second axes, of a constructional variation of the typeillustrated in FIGS. 10 and 11;

FIG. 18 is a longitudinal section, cut by a plane passing through thefirst and second axes, of a constructional variation of the typeillustrated in FIGS. 13 and 15; and

FIG. 19 is a perspective view of the control component of theconstructional variation shown in FIG. 18.

FIG. 20 is a longitudinal section of still another embodiment of atransmission in accordance with this invention;

FIGS. 21, 22 and 23 show respectively, in perspective and on a largerscale, three components of the embodiment of FIG. 20 which differ fromsimilar components of previous embodiments;

FIG. 24 is a longitudinal cross section through one embodiment of anengine incorporating a transmission of the invention;

FIG. 25 is a cross section on line b--b of FIG. 24;

FIG. 26 is a fragmentary cross section on line c--c of FIG. 24;

FIG. 27 is an enlarged fragmentary cross section taken on line d--d ofFIG. 24;

FIG. 28 is a cutaway perspective view illustrating the movablecomponents of the embodiment of FIG. 24;

FIG. 29 is a longitudinal cross section taken through an alternativecombined engine and transmission of the present invention;

FIG. 30 is a similar cross section illustrating a variant of theembodiment of FIG. 29;

FIG. 31 is a line diagram illustrating the orientation of axes and pivotpoints of various of the components in the embodiment of FIG. 29; and

FIG. 32 is a longitudinal cross-section of a structural variation of theembodiment of FIGS. 29-31.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The device according to the invention shown in FIGS. 1, 2 and 7comprises a second element 3 having two conical convex surfaces 19, 20,r 1 (=∞) and r 3 designating the radii of curvature of the surfaceconsidered in a meridian plane passing through second axis 12 and in atransverse plane orthogonal to the first, respectively, disposed aboutsecond axis 12. These two conical surfaces 19, 20 are both symmetricalrelative to a point S located on the second axis 12. Each of theseconical surfaces 19, 20 is in frictional contact with a respective oneof two annular concave rolling surfaces 8, 9, being of convex toricsection in the peripheral direction, r 2 and r 4 designating the radiiof curvature of the surface considered in a meridian plane passingthrough a first axis 7 and in a plane orthogonal to the first,respectively. These surfaces are formed on two parts 4, 5 respectivelyof a first element 2; the two surfaces 8, 9 are disposed about a firstaxis 7 and are both symmetrical relative to the point S also located onthe first axis 7. The conical surface 19 of the element 3 and thesurface 8 of the element 2 make contact at a single point P1 located onthe surface 19. The conical surface 20 of the element 3 and the surface9 of the element 2 make contact at a single point P2 located on surface20. These two points of contact (P1, P2) are symmetrically disposedrelative to the point S. The axes 12 and 7 which intersect at the pointS are inclined relative to each other at an angle a.

The second element 3 is drawn in a movement defining a cone with axis 7and with an angle 2a at the apex S, under the influence of a first shaft18 coaxial with the axis 7. For this purpose, the shaft 18 pivots aboutthe axis 7 in the casing 1, 97, 105, 107 via bearings 27 and 30 andincludes two plates 18a and 18b having an axis coaxial with the axis 7,the plates being connected to each other by a truncated cylindricalportion 18c passing round the element 3. The two plates 18a and 18bsupport two half-shafts 50 and 51 respectively, coaxial with axis 12 andmounted for rotation with the element 3. These half-shafts 50 and 51 aremounted in the plates 18a and 18b via bearings 14, for example, needlebearings. The bearings 14 consequently permit the second element 3 torotate freely about axis 12 while being drawn into conical rotation bythe plates 18a and 18b.

The external cages of the bearings 14 include sleeves 15 mounted in theplates 18a, with play in the plane containing the axes 7 and 12 and in adirection perpendicular to the axis 12. This gives the element 3 adegree of freedom enabling it to pivot about the axis 22 passing throughS and perpendicular to the rotating plane of the axes 7 and 12, underthe effect of the gyroscopic couple about axis 22 (in the direction ofthe arrow f) to which the element 3 is subjected owing to its nutationalor conical movement. This causes surfaces 19 and 20 of the element 3 tocontact, at points P1 and P2 respectively, surfaces 8, 9 of the element2. The two surfaces 8, 9 of the element 2 are formed, respectively, onradial portions 4a, 5b, of the two parts 4, 5 of the element 2. Thesetwo parts 4, 5 of the element 2 are mounted for rotation about the axis7, by means of keys 4d, 5d with an element 1, forming a cylindricalcasing with axis 7, which is secured on one side at 98 to a lid 97 andon the other side at 99 to a hollow shaft 105, or third shaft, securedat 106 to a flange 107, having axis 7.

The casing rotates freely about the axis 7, in the frame A via bearings29 and 31, and about the shaft 18 and hollow cylindrical extension 18dof the plate 18b via bearings 27 and 30. The element 3 is rotatablylinked to a shaft 21, or a second shaft, with axis 7, via three conicalconvex gears having a common apex S. The first of these gears, 47, hasas its axis the axis 12 and is mounted for rotation with the element 3about axis 12 by being attached to the half-shaft 51. This gear 47 ismoreover drawn by the shaft 51 in the conical movement which the element3 undergoes about the axis 7. Gear 47 cooperates with a second gear 45which acts as an intermediary and which is carried by a shaft 46, theaxis of which passes through S. This shaft 46 is carried by the plate18b, and is therefore drawn by the latter about the axis 7 whilerotating freely about its axis via bearings housed in the plate 18b. InFIG. 1, the axis of this shaft 46 is not shown. This second gear 45co-operates with a third gear 44 of the linking gear-train. This thirdgear 44 has as its axis the axis 7 and is carried on the end of thesecond shaft 21 to constitute the central planetary arrangement of thelinking gear-train. The shaft 21 rotates freely about axis 7 in thecylindrical extension 18d of plate 18b, via bearings 40. The threeshafts 18, 21 and 105-107 of the variator may or may not rotate, may ormay not be coupled to one another by mechanical connections (gears,etc.), and may each have one of the three functions of input, output orreaction.

The two parts 4, 5 of the element 2 are axially movable relative to oneanother along the axis 7 and movable symmetrically relative to the plane10 perpendicular at S to the axis 7. Thus, the points of contact P1, P2remain symmetrical relative to the point S so that the ratio R1:R2 isalways identical at these two points. In this particular case, thecasing 1 being rotational about the axis 7, the means used for varyingthe axial spacing of the parts 4, 5 is an electric micromotor M fixed onthe casing 1. Motor M is controlled from outside the casing bypush-buttons B1, B2 connected to a source of electric current, and whichco-operate via rods T1, T2 with annular conducting tracks D1, D2, withaxis 7, formed in the lid 105. These tracks are connected to the motor Mby conducting wires passing through the cylindrical wall of thecasing 1. The motor M drives a rod, the axis of which is parallel to theaxis 7, formed of two threaded parts with an identical but oppositethread at 48 and 49, which co-operates with the two parts 4, 5 of theelement 2. Depending on whether B1 or B2 is pressed, the motor M drivesthe rod 48, 49 in one direction or the other, in order to simultaneouslymove the two parts 4, 5 of the element 2 away from or towards eachother.

FIG. 2 represents a section through FIG. 1 on a plane passing throughthe point of contact P2 and perpendicular to the meridian plane of theaxes 7 and 12 (the line II--II in FIG. 1). This figure shows the radiiof curvature r3 and r4 transverse to the point of contact.

FIG. 3 represents a mechanical speed variator which comprises twobiconical convex elements 3A and 3B each in contact, at two points P1,P2, and P3, P4 respectively, with two sets of annular surfaces 8A, 9A,and 8B, 9B, formed on the two parts 4A and 4B. The two elements 3A and3B are mounted opposite each other on the same bent shaft forming acrank-shaft and having two parts 51A and 51B, with axes 12A and 12Binclined at equal but opposite angles a to the axis 7. These elements 3Aand 3B are drawn about the axis 7 in conical movement having apices SAand SB with apex angles 2a, by a common shaft 18, or first shaft coaxialwith the axis 7. This shaft 18 is pivotably mounted in the casing 1-105via bearings 27, to form a drive input or output.

For this purpose, the two parts 51B and 51A are carried by two supportplates 71 and 63. The plate 71 extends the shaft 18 and receives the endof the shaft 51B, joining it at 55. The plate 63 is freely mounted forrotation about axis 7 via bearings 78 and receives the end of the shaft51A, joining it at 54. Each element 3A and 3B has a sufficient degree offreedom to pivot about respective axes 22A and 22B passing throughpoints SA and SB and perpendicular to the rotating plane containing theaxes 7, 12A and 12B. This degree of freedom is obtained by mounting thebearings 14A and 14B which support the elements 3A and 3B on the shafts51A and 51B, in outer cages 56A and 56B which are prismatic (e.g.squares) in cross section. These cages 56A and 56B are housed in theelements 3A and 3B with some play in the meridian plane and in thedirection perpendicular to the axes 12A and 12B respectively. Thegyroscopic couples to which the elements 3A and 3B are subjected (arrowsfA and fB) press the element at the points of contact P1, P2, P3, P4,against the annular surfaces of the elements 2A and 2B. These annularsurfaces are locked against rotation about axis 7, for they are mountedfor rotation with a common casing 1-105-97 which is itself fixed.

By reaction, the elements 3A and 3B rotate about their respective axes12A, 12B, with identical angular velocity and in the same direction. Thetwo elements 3A and 3B are linked in rotation by conical gears 69 and 70and rotatably connected to a common shaft 21 (or second shaft) havingaxis 7 for its axis, which rotates in 97 via bearings 57, to form adrive input or output. The rotational connection between the shaft 21and the element 3A is effected by two conical gears having a common apexSA, the first 47 being convex, with apex 12A and formed in 3A, thesecond 53, which co-operates with 47 at 52, being concave, with axis 7and secured at 60 to the shaft 21 for rotation therewith to form theouter crown of the linking gear-train. This crown 53 is held in thecasing 1 by bearings 62.

The surfaces 8A and 9A are symmetrical relative to the plane 10A, andthe surfaces 8B and 9B are symmetrical relative to 10B. Since the casing1 is fixed, the speed variation may be controlled directly from outside,either manually or by electric means or the like. The arrangement withtwo biconical elements 3A and 3B is used so that the resultinggyroscopic couple on the frame is substantially zero. It should be notedthat the four points of contact P1, P2, P3, and P4 all work in parallel,not in series, in power transmission.

FIG. 4 shows a mechanical variator which is different from that in FIG.3 only in that the second shaft 21 is locked against rotation, being ineffect portion 65 of the frame A, while the first shaft 18, mounted inbearings 67, still constitutes an input or output shaft 18 secured toplate 71 which is mounted in bearings 66 carried by the casing. A thirdshaft 105 mounted in bearing 29 and being an extension of the casing,rotates and constitutes an input or output. Communication of the conicalmovement by the shaft 18 to the two elements 3A and 3B, the mountings ofthe elements 3A and 3B providing a degree of pivotal freedom, and thegear-train with two conical gears forming a link with the shaft 21 (i.e.casing portion 65) are equivalent to those described in FIG. 3. Sincethe casing 1 rotates, the speed variation is controlled by means of amicro-motor M.

FIGS. 5, 6 and 8 show a transmission consisting of 3 biconical elements3A, 3B 3C mounted in a star shape, spaced by 120° from each other aboutcommon general axis 7. Thus the resultant of the 3 gyroscopic couplescommunicated by the three elements 3A, 3B and 3C to the two common parts4 and 5 and then from these parts 4 and 5 to the casing 1 issubstantially zero. Each of these three elements 3A, 3B, 3C is drawn ina conical movement with an apex angle 2a about its respective axis 7A,7B, 7C parallel to the general axis 7. For this purpose, each of theelements 3A, 3B, 3C is mounted on a shaft 51A, 51B, 51C inclined to therespective axis 7A, 7B, 7C, each of these shafts being supported by twoplates 71A and 63A, 71B and 63B, 71C and 63C, respectively, as in thearrangement in FIGS. 3 and 4.

Each of the elements 3A, 3B, 3C has the necessary degree of freedom forpivoting about the axes 22A, 22B, 22C, since they are mounted onbearings 14A, 14B, 14C in an identical manner to that shown in FIGS. 3and 4. Each element 3A, 3B, 3C abuts, at a fifth point on the annular,concave, toric surface corresponding thereto, the surfaces being 8A withaxis 7A, 8B with axis 7B, and 8C with axis 7C respectively, and at asecond point on surface 9A with axis 7A, 9B with axis 7B, and 9C withaxis 7C respectively. The three annular surfaces 8A, 8B, 8C are formedby cutouts spaced at 120° intervals, in a common member 4 with axis 7,and the three annular surfaces 9A, 9B, 9C are similarly cut out in amember 5 also with axis 7. Members 4 and 5 are secured at 4d and 5d toan intermediate cylindrical casing 1e, with axis 7, for rotationtherewith about axis 7, this casing in turn being secured at 79 to ageneral casing 1-97-105 also with axis 7.

In this arrangement, the casing 1-105 is locked against rotation aboutthe axis 7, and thus the two parts 4 and 5 are also locked againstrotation about this axis, although being axially movable relative to theaxis 7 and remaining symmetrical relative to the plane 10, for thepurpose of speed variation. Independent plates 63A, 63B, and 63C arefreely mounted for rotation about their respective axes via bearings78A, 78B, 78C, carried by a fixed support plate 80 with axis 7 and fixedat 81 to the intermediate casing 1e. The plates 71A, 71B, 71C aremounted in bearings 67A, 67B, 67C on a fixed support plate 94 with axis7, fixed at 79 to the casing 1. The three shafts 18A, 18B, 18C of theseplates 71 rotate at the same speed and in the same direction about theirrespective axes 7A, 7B, 7C, by being rotatably linked by gears 76A, 76B,76C to a gear 71 provided on the shaft 18, which constitutes an input oroutput in this arrangement. This shaft 18 is rotatably mounted in thecasing 1-105 by means of bearings 27.

By reaction, at six points of contact on the six annular surfaces 8A,9A, 8B, 9B, 8C, 9C, the three elements 3A, 3B, 3C rotate about theirrespective axes 12A, 12B, 12C at the same speed and in the samedirection. Each of these three elements 3A, 3B, 3C is linked in rotationto common shaft 21 with axis 7, which is rotatably mounted in the casing97-1-105 by means of bearings 57. This rotational linking is provided byconical gears 91A, 91B and 91C having apices SA, SB, SC and axes 7A, 7B,7C, respectively, carried by annular pieces 90A, 90B, 90C with axes 7A,7B, 7C respectively. Three gears 91A, 91B and 91C co-operate withconical gear teeth 93A, 93B, 93C having apices SA, SB, SC and axes 12A,12B, 12C respectively, which are formed in the two conical halves ofeach of the elements 3A, 3B, 3C.

The annular pieces 90A, 90B and 90C co-operate via gears on theirperiphery with gear teeth 89 of a crown 88 with axis 7, said crown beingmounted for rotation about axis 7 with the shaft 21, via sections 87, 86and 85. It should be noted that the six points of frictional contact ofthis arrangement all work in parallel, and not in series in powertransmission.

FIG. 6 represents a section through the transmission device in FIG. 5,on a plane perpendicular to the axis 7 and passing through three of thepoints of contact (line III--III in FIG. 5) FIG. 5 is a biradial sectionon the line IV--IV in FIG. 6.

In each of the embodiments thus described, the rolling surfaces of thefirst and second elements are pressed against each other solely by theaforementioned gyroscopic force couple with sufficient force to enablethe transmission of constant high power without need for additionallysupporting the rolling surfaces and without producing axial reactionforces.

FIGS. 9 and 10 show a longitudinal view and a cross-sectional view,respectively, of an alternative embodiment of the invention and in whichthe gyroscopic force couple previously described is deployed tocounterbalance a mechanically developed force for frictional rollingengagement of the elements of the transmission. This transmissionincludes a fixed frame 200 composed of two essentially flat sides 200Aand 200B at the end of the frame joined by a crankcase 200C of anapproximately cylindrical shape. The frame thus constituted supports afirst element 202 and a second element 203.

The first element 202 is rotatable around a first axis 207, which is thelongitudinal axis of the transmission and is fixed with respect to frame200. The first element is composed of two half-sections 204 and 205defining two conically shaped rolling surfaces 208 and 209. The twohalf-sections are mounted on a shaft 211 (output shaft) which is coaxialwith the first axis 207 and are axially movable with respect to eachother in the longitudinal direction of the first axis 207. Keys 222a and222b lock the two half-sections 204 .Iadd.and 205 .Iaddend.and the shaft211.

Two annular chambers 214a and 214b are disposed between the interior ofthe half-sections 204 and 205, respectively and the exterior surface ofshaft 211. These annular chambers are connected through ducts 217a, 217band 215 in the shaft 211 with a cylindrical throat 218 at the surface ofshaft 211 and through which a liquid under pressure may be passed to thechambers 214a and 214b during rotation of the shaft 211 about the firstaxis 207. Running seals 221a, 221b, 221c, 221d, 221e and 221f isolatethe system of annular chambers and of the supply ducts to these annularchambers. Introduction of a fluid under pressure into the annularchambers 214 will simultaneously displace the two half-sections 204 and205 and associated rolling surfaces 208 and 209 axially by separatingthem. The function of this movement of the surfaces 208 and 209 of thefirst element 202 will be described in more detail below.

The rolling surfaces 208 and 209, which have the shape of truncatedcones, rotate about the first axis 207. They are symmetrically arrangedwith respect to a plane 210 perpendicular to the first axis 207 at apoint S on this axis. The larger ends of .Iadd.the .Iaddend.bases ofthese two truncated cones face each other.

The shaft 211 is supported by the frame 200 at each of its ends by asystem of bearings that include a first series of roller bearings 201aand 201b which are coaxial with the first axis 207. In order tofacilitate mounting of the first element 202 on the shaft 211, the endof shaft 211 is provided with a system of washers 223a and 223b and bolt224.

A support 213 is mounted so that it can rotate about the first axis 207by a system of bearings 225a and 225b which are inserted between theframe sides 200A and 200B and support 213. The aforementioned bearings201a and 201b are themselves mounted inside support 213 in thetransverse plane of the bearings 225a and 225b at each end of thetransmission so that the first element 202 may rotate with respect tothe support 213 which can itself rotate with respect to the frame 200.The support 213 is essentially cylindrical and is inclined with respectto longitudinal axis 207 of the transmission. Also the support 213carries the second element 203 by way of .[.ball.]. .Iadd.roller.Iaddend.bearings 226a.[.,.]. .Iadd.and .Iaddend.226b .Iadd.and a ballbearing .Iaddend.226c. The .[.last of these bearings.]. .Iadd.ballbearing 226c .Iaddend.functions to position the second element 203axially with respect to the support 213. .Iadd.Also the inner races ofthe roller bearings 226a and 226b define journal surfaces on the secondelement 203 which are surfaces of revolution about the second axis 212..Iaddend.

The second element 203 is a solid of revolution having an essentiallycylindrical shape and is rotatable with respect to support 213 about asecond axis 212 which passes through the point S of the first axis 207and is inclined at a constant angle a with respect to the latter. Inthis embodiment of the invention the apical half-angle of the truncatedcones defining the rolling surfaces 208 and 209 of the first element 202is slightly smaller than the aforementioned angle of inclination a. Thereason for this feature will become apparent from the description of theoperation of this transmission to follow below.

The second element 203 includes two rolling surfaces 219 and 220 which.[.rotate.]. .Iadd.are surfaces of revolution .Iaddend.about the secondaxis 212 and are symmetrically arranged with respect to a plane 216 thatis perpendicular to the second axis 212 at point S. The rolling surfaces219 and 220 are formed on two annular rings 227 and 228 which aremounted in the second element 203 to move axially with respect to eachother in the longitudinal direction of the second axis 212 but rotatetogether with the second element 203.

A mechanical system of several compression springs 229 moves the tworolling surfaces 219 and 220 of the second element 203 axially in such away as to press them with force at two contact points P₁ and P₂ againstreaction surfaces 208 and 209 of the first element 202. These springsare mounted along the internal wall of the second element 203 and abutat one end on plugs 230a and 230b mounted at the two end extremities ofthe second element 203. At the other ends the .[.the.]. springs engagethe annular rings .[.229.]. .Iadd.227 .Iaddend.and 228 to bias them in.Iadd.a .Iaddend.direction away from the plane 216.

A conical gear 231 with an apex intersecting the point S is mounted sothat it will rotate together with the second element 203. It meshes witha conical gear 232, also with an apex at S and which is attached to thecrankcase 200C of the frame. The biconical rolling surfaces 208 and 209make rolling frictional contact at P₁ and P₂ with the rolling surfaces219 and 220 of the second element. The specific contact pressure iscreated by the system of springs 229. These springs 229 and the apicalhalf-angle of the truncated cone surfaces are calculated to create anormal force F_(N) that is sufficient to transmit the input torque fromthe second element 203 to the first element 202 without having therolling surfaces slip with respect to each other. Due to rotation of theinput shaft 233, the surfaces 219 and 220 will be set into rotationalmotion about the second axis 212 at a velocity Wb* as well as in conicalmotion with an apex at S, around the first axis 207 at a velocity Wa.The velocities .[.Wb.]. .Iadd. Wb*.Iaddend., Wa and the velocity W ofthe first element around axis 207 are related by a kinematic equationwhich depends on the geometry of the bearing tracks. This equation isthe following:

    W-Wa-Wb*(R.sub.1 /R.sub.2)=0

In this equation, R₁ represents the radius of the circle described byone of the contact points on the rolling surface associated with thesecond element while R₂ represents the radius of the circle described byone of the contact points on the rolling surface associated with thefirst element.

In the case of this embodiment, the conical gears 231 and 232 of apex S,which are attached to the second element 203 and to the frame, act tocontrol the rotational velocities Wa and Wb so that these maintain aconstant ratio. As a result, for a given input velocity Wa, there isonly one output velocity W at which the output shaft 211 of thetransmission will be driven.

The weight of the second element 203 is distributed .[.is.]. .Iadd.in.Iaddend. such a way that the center of gravity of the second elementcoincides with the point of intersection S of the first and second axesand so that the principal moments of inertia of the second element havevalues that are appropriate to velocities Wa and Wb and to the angle ofinclination a to develop a gyroscopic couple having a direction andmagnitude sufficient to totally or partially balance the reaction coupleassociated with the normal forces F_(N). As a result, the bearings 226a,226b and 226c, which support the second element 203, are subjected tozero forces or to relatively small forces during operation. Also as aresult of the symmetrical arrangement of the rolling surfaces, thebearings 201a, 201b, 225a and 225b, which support the transmission gearshafts are not subjected to any axial reaction forces.

It is possible to vary the ratio of input and output speeds by modifyingthe ratio R₁ /R₂. By injecting a fluid under pressure into chambers 214aand 214b, it is possible to displace the rolling surfaces 208 and 209,respectively, by separating them from plane 210. In FIG. 9, the rollingsurfaces 208 and 209 are shown in their position of maximumdisplacement. The transverse spacing that is available between rollingsurfaces 208 and 209 and the cylindrical inner surface of the element203 decreases as these reaction surfaces are displaced from each other.Also, because the angle of inclination of the second axis with respectto the first axis is slightly greater than the apex half-angle ofbearing tracks 208 and 209, which have the shape of a truncated cone,the transverse or radial spacing that is available between rollingsurfaces 208 and 209 and cylindrical inner surface of the second element203 increases in the direction of the plane of symmetry 216.Consequently, the annular rings 227 and 228, which are axially movableand on which are formed the rolling surfaces 219 and 220, can onlyrecoil against the bias of the springs 229a and 229b in the direction ofthe plane 216 when the conical surfaces 208 and 209 are separated fromeach other by fluid under pressure. As a result, the ratio R₁ /R₂ variessince the radius R₂ increases. As a result, and taking into account theaforementioned kinematic equation, the ratio of velocities W and Wavaries.

Conversely, when the fluid pressure in chambers 214a and 214b isreduced, the conical surfaces 208 and 209 move closer to each other andto plane 210. In fact, they are actuated by the spring system 229a and229b by way of the annular rings 227 and 228. They are actuated by thesystem of springs as long as the fluid pressure in the chambers does notbalance the force exerted by the elastic system. As a result of thisreversible displacement of the conical reaction surfaces 208 and 209,the ratio of transmission speeds may be continuously varied in onedirection or the other.

In FIG. 11, a variation of the previous embodiment is shown and in whichan inertial system is substituted for the spring system described above.In this figure, most of the components described in FIG. 9 are retained.In particular, the frame 200, the first element 202, the second element203, the first axis 207, the second axis 212, the support 213, therolling surfaces 208 and 209 of the first element, the rolling surfaces219 and 220 of the second element as well as the constant angle ofinclination a of the second axis with respect to the first axis areretained. Thus, only the components which have a structure that isdifferent from that previously described will be considered.

In the variation of FIG. 11, the mechanism employed to axially adjustthe respective reaction surfaces is inertial in character, i.e., theinertial forces developed by the mass of annular rings 227 and 228 forcethem against rolling surfaces 208 and 209. FIG. 12 is a diagram of theforces illustrating operation of the mechanical system applicable to oneof the rings. Since the annular ring 228 is driven at a rotationalvelocity Wa around the first axis 207, it is subjected to centrifugalforces having a resultant at G_(P) (center of gravity of the annularring located at the second axis 212) which is a rotational force F_(c).(This force depends on the geometry and mass of the annular ring as wellas on the velocity Wa). This force may be separated into an axialcomponent F_(ca) which is directed along the second axis 212 and aradial component F_(cn). The axial component F_(ca) acts in a directionto displace the annular ring 228 in the direction of the arrow f, i.e.,it tends to displace ring 228 from the plane of symmetry 216 of thesecond element. Because of this, the surface 220 on annular ring 228will move axially until it engages the rolling surface 209 of the firstelement and so that these surfaces roll together without slipping. Inorder to transmit a given input couple, it is necessary to exert acertain normal force F_(N) which may be calculated or determinedexperimentally from the value of the couple to be transmitted.

The meridianal profile of the annular ring 228 may be designed with aslight curvature so that at each contact point between surfaces 209 and220, the normal force created by centrifugal force F_(c) shall be equalto the normal force F_(N) desired. Specifically, if T designates thetangent to the contact point P₂ of the motion surface 209 of the firstelement this tangent T makes an angle Δa with the second axis 212 asdepicted in FIG. 12 by the two lines passing through P₂ that arerespectively parallel and perpendicular to the second axis 212.

The axial component F_(Na) along the second axis 212 of the normal forceF_(N) is a function of the abovementioned angle Δa as follows:

    F.sub.Na =F.sub.N ×sin Δa

At equilibrium, this axial component F_(Na) must be equal to the axialcomponent F_(ca) which is created by centrifugal force, or:

    F.sub.ca =F.sub.Na =F.sub.N ×sin Δa

By solving this equation graphically or numerically, therefore, it ispossible to determine the geometry, the mass of the annular ring and therotational velocity thereof Wa, as well as the profile for rollingsurface 209 which will develop the desired normal force F_(N).

Operation of the fluid system which axially positions the surfaces 208and 209 for variation of the transmission speed is identical to thatdescribed with reference to FIG. 9.

In FIGS. 13 and 14, a further constructional variation of a mechanicalsystem for rolling surface engagement is shown. Again, most of thecomponents described with reference to FIG. 9 are shown and bear thesame reference characters.

In this constructional variation, the rolling surfaces 208 and 209 aretruncated cones whose apical half-angle is equal to the angle ofinclination a of the second axis with respect to the first axis. As aresult, the annular space available between the cylindrical innersurface of the second element 203 and the rolling surfaces 208 and 209is constant over the entire length of the surfaces.

The annular rings 227 and 228 are mounted in such a way as to permitthem to be displaced axially in the direction of the second axis in theaforementioned annular space and make frictional contact with therolling surfaces 208 and 209 which are movable on shaft 211 by means ofhelicoidal ramps 240a and 240b of opposite slope. Thus, by turning thetwo half-sections 204 and 205 with respect to output shaft 211 in theproper direction, the ramps will separate the two half-sections 204 and205. The effect of such separation is a reduction in the annular spacebetween the rolling surface 208 and 209 and the second element 203.Therefore, by turning the two half-sections 204 and 205 in the properdirection relative to the ramps, the rolling surfaces 208 and 209 areadvanced against surfaces 219 and 220 with a normal force sufficientlylarge to transmit the input torque of the transmission. A bolt lockspring 240c is inserted between the two half-sections 204 and 205 tofacilitate such relative rotation of the sections 204 and 205 relativeto the ramps by preloading the reaction surfaces so as to preventslipping with respect to each other during the starting period.

The annular rings 227 and 228 are mounted so that they slide axiallywithin the second element 203 which has a cylindrical interior shape.They are traversed by threaded rods 241, similar to 241a, 241b and 241c,which have a reverse thread and which effect displacement of the rings(to separate them or to bring them closer) in an axial direction. Thethreaded rods 241 are joined to gears 242, similar to 242a, 242b and242c by a toothed wheel 243 whose axis is the same as axis 212. Thetoothed wheel 243 is connected to a conical gear 244 of apex S that isengaged to another conical gear 245 of apex S mounted so that it canrotate about the first axis 207. The conical gear 245 rotates with agear 246 which is joined to a gear 247 connected to a control shaft 248rotatable on an axis fixed with respect to the frame 200. By means ofthis combination of gears, it is possible to control the axial positionof the annular rings from outside of the transmission and thus vary thespeed ratio of the transmission in the manner described with referenceto FIG. 9.

FIG. 15 illustrates a further constructional variation of the embodimentof FIG. 9. In this case, the annular rings are positioned from theoutside of the frame by a combination of hydraulic system and geartrain.

In the variant of FIG. 15, the apical half-angle of the truncated coneswhich provide the rolling surface 208 and 209 is again essentially equalto the angle of inclination of the second axis to the first axis. Inthis case, the mechanical system adjusting the rolling surfaces andcreating the normal force F_(N) is comparable to that previouslydescribed in reference to FIG. 13. It includes an annular ring 259mounted so as to rotate with the shaft 211 by means of grooves. Theannular ring 259 is formed with ramps on its end faces in the nature ofteeth 259a and 259b. These ramps engage ramps of a complementary formsimilarly defined by teeth 204a and 205a which are respectively attachedto the half-sections 204 and 205 on which are mounted the rollingsurface 208 and 209 which are truncated cones. The face inclination ofthe teeth is such that rotation of the two half-sections 204 and 205with respect to shaft 211 results in separating the half-sections fromeach other and squeezing rolling surfaces 208 and 209 against therolling surfaces 219 and 220 of the second element 203.

In this variation, the control component that axially positions theannular rings 227 and 228 is shown in perspective in FIG. 16. Thus, theannular rings are arranged to slide inside two cylindrical liners 253aand 253b and to rotate within the second element 203. These two liners253a and 253b rotate synchronously around the second axis 212 by meansof conical gear 255 of apex S, whose rotational axis is located in planeof symmetry 217 and passes through S. This conical gear 255 is mountedso as to be free to rotate on a pivoting shaft journalled in the secondelement 203 and is engaged with two conical gears 255a and 255b of apexS and attached to the liners. The two liners include two longitudinalslots 256a and 256b in which slide two cylindrical rods 257a and 257battached to annular rings 227 and 228. The extensions of the twocylindrical rods 257a and 257b slide in two other helicoidal ramps 258aand 258b which are installed in the interior wall of the second element203.

In operation, the two annular chambers 214a and 214b are independentlysupplied with fluid under pressure through ducts 250a, 250b, 251a, 251b,252a and 252b of the type previously described. When the pressure in oneof the chambers is increased (for example, in the right chamber 214b),the normal force F_(N) is increased on one side. As a result, the liner253b has a tendency to turn more rapidly than the second element 203.When liner 253b turns with respect to the second element 203 in thismanner, it produces axial displacement of annular ring 228 by means ofthe system of slots. Since liner 253b rotates synchronously with liner253a, the latter, in turn, rotates with respect to the second element byaxially displacing the annular ring 227 by means of the other system ofslots. The profile of the helicoidal slots 258a and 258b of the secondelement 203 is calculated in such a manner that the axial movements ofthe annular rings 227 and 228 are in opposite directions. As long as apressure differential is maintained between the two annular chambers214a and 214b, the liners will produce axial displacement of the annularrings.

In another constructional variation shown in FIG. 17, the first element202, which is generally biconical in shape, is fixed and is attached toframe 200 by means of a hollow shaft 211. The crankcase 260 of thetransmission rotates around the first axis 207 and is attached to atransmission gear shaft 261. The crankcase is attached to a conical gear262, of apex S, of the same type as the gear 232 which was described inreference to FIG. 9. This conical gear 262 is engaged with the othergears 231 of the transmission as previously described. The support 213is attached to a rotating transmission gear shaft 263 which traversesthe hollow shaft 211.

Thus, this variation differs from the variation shown in FIGS. 11 and 12only in that there.Iadd., the .Iaddend.first element 202 is mounted torotate. One of the transmission gear shafts 263 rotates at the velocityWa of the second element around the first axis 207. The othertransmission gear shaft 261 rotates at the velocity Wb* of the secondelement around the second axis 212 by means of a conical gear train ofapex S.

FIG. 18 is a variation comparable to the one described with reference toFIGS. 13 and 15. In the case of this variation, the second elementcarries the conically shaped bearing tracks. As thus shown in FIG. 18,the transmission includes a frame 200 composed of two flat sides 200Aand 200B at each side of its extremities, joined by screws to acrankcase 200C that is essentially cylindrical. On this crankcase ismounted the first element 272 which comprises two half-sections 274 and275 of a generally annular shape. On these two half-sections arereaction surfaces 278 and 279 that revolve around a first axis 277 (thelongitudinal axis of the transmission) and are symmetrically arrangedwith respect to plane 280 that is perpendicular to the first axis 277 ata point S of this axis. The two half-sections move axially within thecrankcase in the longitudinal direction of the first axis 277. These twohalf-sections are controlled in their axial motion by a controlcomponent which will be better understood by reference to a detail viewto be described below.

Inside the crankcase is mounted a second element 273 which is alsocomposed of two half-sections 273a and 273b. On these two half-sections273a and 273b are formed reaction surfaces 289 and 290 having the shapeof truncated cones. These two surfaces 289 and 290 revolve around asecond axis 282 that converges with the first axis 277 at a point S.Moreover, they are symmetrically arranged with respect to plane 286perpendicular to the second axis at S.

The angle of inclination a of the second axis to the first axis isconstant and essentially equal to the half-angle at the apex of thereaction surfaces.

The two half-sections 273a and 273b are mounted on a hollow shaft 281that is coaxial with the second axis 282 by means of a system ofhelicoidal ramps 310a and 310b. This system of helicoidal ramps has thesame functions as the system of helicoidal ramps described in FIG. 13.

The shaft 281 and the second element 273 are mounted so as to rotate onthe second axis 282 on bearings 296a and 296b which are held at one endby a support 283a which is free to rotate around the first axis 277 andat the other end by a support 283b that rotates with transmission gearshaft 303. The support 283a is itself supported by bearings 281a mountedon side 200A of the frame. The support 283b is itself supported bybearings 281b mounted on side 200B of the frame. Shaft 281 and thesecond element 273 which rotate at velocity Wb* around the second axis282 are connected by a universal joint 300 with a transmission gearshaft 304 that is coaxial with axis 277. This shaft 304 is supported bybearings 305. The universal joint 300 is located inside the hollow shaft281.

It will be noted that the components of this variation of thetransmission of the invention bear similarities to the componentsdescribed in reference to FIGS. 9 and 17. Accordingly, a detaileddescription of the operation of this variation is believed unnecessaryexcept to point out that shaft 303 drives rotating support 283b at anangular velocity Wa. Since the rolling surfaces 278 and 289 as well as279 and 280 bear against each other at two points P₁ and P₂, the secondelement 273 will roll against the first element 272 while rotatingaround the second axis at velocity Wb*. Thus, the transmission gearshaft 304, which rotates with the second element, will be driven.

As in certain structural variations already described, the normal forceF_(N) which exerts specific frictional contact pressure at points P₁ andP₂, is created by the system of helicoidal ramps. In order to put thesystem of helicoidal ramps into operation upon starting, a spring 306,which is inserted between the two parts 273 and 273b having the shape oftruncated cones, pushes surfaces 289 and 290 against the surfaces of thefirst element in such a manner as to preload the bearing tracks.

The geometry and the kinematics of the second element are adapted insuch a way as to produce a gyroscopic couple that will balance thereaction couple due to the normal forces exerted at points P₁ and P₂.The purpose of this arrangement is to reduce the mechanical stresses,particularly in the bearings, in order to lighten them or to reduce wearon them.

In FIG. 19, the control component intended to produce axial motion ofthe reaction surfaces 278 and 279 of the first element is shown indetail. In this perspective view is shown the cylindrical crankcase200C, the first axis 277, the two half-sections 274 and 275 of the firstelement which are annular in shape and on which are formed the rollingsurfaces 278 and 279 that revolve around the first axis 277. Twocylindrical parts 274a and 275a are attached to these two half-sections274 and 275. These two parts 274a and 275a slide in a longitudinal slot315 of the crankcase and engage a system of helicoidal ramps 316a and316b, having opposite slopes, that are installed in a liner 317-318 madein two parts in order to facilitate machining of the ramps. The liner317-318 is coaxial with the crankcase and rotates around the first axis277. By turning the liner around axis 277, the bearing tracks 278 and279 are separated to some extent, this motion taking place along thefirst axis 277.

A further alternative embodiment of a transmission in accordance withthis invention is shown in FIGS. 20-23 of the drawings. Although many ofthe components will be familiar from the embodiments describedpreviously, these components will be briefly identified to provide abasis for a clear understanding of these components in the context ofmodified structure shown in FIGS. 20-23.

The transmission shown in FIG. 20 includes a fixed frame 400 having twoend parts 400a and 400b joined by a crankcase 400c of a generallycylindrical form. A first element 402 and a second element 403 arerotatably mounted in the frame by bearings identified below. The firstelement 402 is rotatable around a first axis 407 which is thelongitudinal axis of the transmission and is fixed with respect to theframe 400. The first element 402 is composed of two half sections 404and 405 containing two rolling surfaces 408 and 409 approximately thoughnot precisely the shape of truncated cones. The sections 404 and 405 aremounted on a shaft 411 (output shaft) that is coaxial with the firstaxis 407 and are movable axially with respect to each other in thelongitudinal direction of the first axis 407. Keys 422a and 422b fastenthe sections 404 and 405 to the shaft 411 so that they may rotatetogether.

Two annular chambers 414a and 414b are provided between the interiorwall of the two sections 404 and 405 and the exterior surface of shaft411. These annular chambers communicate with a source of fluid (notshown) by conduits 417a, 417b and 415 which are formed in the body ofshaft 411. A cylindrical groove 418, which surrounds shaft 411, permitsintroducing a fluid into chambers 414a and 414b when shaft 411 rotateson its own axis 407. Sealing joints 421a, 421b, 421c, 421d,421.[.d.]..Iadd.e .Iaddend.and 421f assure tightness of the system ofannular chambers and of the fluid supply conduits for these annularchambers. By introducing a fluid into the annular chambers 414a and414b, the two sections 404 and 405 and their rolling surfaces 408 and409 will be simultaneously displaced axially, thus separating them. As aresult of this hydraulic system, the relative positions of contactpoints P₁ and P₂ between the rolling surfaces may be modified to alterthe transmission ratio.

The shaft 411 is supported at each end of the frame 400 by a system ofbearings including a first series of roller bearings 401a and 401b whichare coaxial with the first axis 407. A support 413 is rotatable aroundthe first axis 407 by a system of bearings 425a and 425b between theframe 400 and the support 413. Thus, the first element 402 may turn withrespect to the support 413 which, in turn, may rotate with respect tothe frame 400. This support 413, which is essentially symmetrical, isinclined with respect to the longitudinal axis 407 of the transmissionand supports the second element 403 by means of roller bearings 426a and426b.

The second element 403 is a solid of revolution, cylindrical in form,and is rotatably carried within the support 413 on a second axis 412passing through point S of the first axis 407 and inclined at a constantangle a with respect to the latter. The second element 403 includes tworolling surfaces 419 and 420 which revolve around the second axis 412and are arranged in symmetrical fashion with respect to a plane 416which is perpendicular to the second axis at point S. These rollingsurfaces are formed on two annular rings 427 and 428 which are movableaxially with respect to each other in the longitudinal direction of thesecond axis 412, inside the body of the second element 403, but rotatetogether with the second element 403.

A mechanical system drives the two rolling surfaces 419 and 420 of thesecond element 403 axially in such a manner as to force them against therolling surfaces 408 and 409 of the first element 402 at the two contactpoints P₁ and P₂. The several designs of this mechanical systemdescribed above are applicable in the case of the present embodiment. Byway of illustration, a still further system is shown in FIGS. 20-22. Inthis instance, each ring 427 and 428 (FIGS. 20 and 22) is provided withexterior helicoidal ramps, opposite in direction, and which make contactwith interior helicoidal ramps 521a and 521b borne by sleeves 522 and523 which are disposed within the second element 403 and fastened to it.The reaction between the helicoidal ramps 520a and 520b, on the onehand, and 521a and 521b, on the other hand, has a tendency to separatethe sections 404 and 405 from each other and to urge the surfaces 408and 409 against the surfaces 419 and 420 with a normal force sufficientto transmit the input torque couple of the transmission withoutslipping. Such input torque is supplied by an input shaft 433 mounted soas to rotate in support 413 in coaxial alignment with the axis 407.

Although the operation of the transmission described to this point withreference to FIG. 20 is practically identical to the one for whichseveral designs have been described above, it would be helpful to reviewits operation. The reaction surfaces 408 and 409 of the first element402 are in rolling frictional contact at P₁ and P₂ against rollingsurfaces 419 and 420 of the second element 403. The specific contactpressure is created by the ramps 520a, 520b, 521a and 521b. Due to theaction of the input torque applied to shaft 433, surfaces 419 and 420are caused to revolve at a velocity Wb* in relation to the second axis412 and also in a conical motion around the first axis 407 at velocityWa.

The aforementioned rotational velocities Wb* and Wa and the rotationalvelocity W of the first element 402 around axis 407 are related to eachother by a kinematic equation depending on the geometry of the bearingtracks. In the present case, the velocities Wa and Wb* are maintained ata constant ratio (equal to 1). Therefore the transmission output shaft411 will be driven at only one output velocity for a given relativeposition of points P₁ and P₂.

It should be pointed out that the surfaces 408 and 409 of the firstelement 402 and the surfaces 419 and 420 of the second element 403automatically center themselves symmetrically with respect to point S.In fact, decentering of one of the surfaces of the first element wouldhave the effect of correlatively decentering the corresponding surfaceof the second element. Consequently, the pressure at contact points P₁and P₂ would be different since one of the surfaces would receive lessthrust from the helicoidal ramps 520a and 520b than the other one. Thiswould result in a difference of fluid pressure contained in annularchambers 414a and 414b which is not possible due to the connection ofthese chambers. Thus, any dissymmetry which may occur between thesurfaces is corrected automatically.

In the embodiment of FIGS. 20-23, a mechanical linkage of special designis employed between frame 400 and the second element 403 in order toprevent the latter from turning around the first axis 407 with respectto frame 400. (Consequently Wa=Wb*; Wb=0). This linkage is arranged todrive the second element 403 at one of the longitudinal extremitiesthereof, e.g., the left extremity in accordance with FIG. 20. Althoughthis system could be designed to use an Oldham or similar joint, it ispreferable to design it using a transverse component connecting frame400 to the second element 403 and providing, on the one hand, sufficientflexibility in the transverse direction to permit conical movement ofthe second element 403 around point S and, on the other hand, providingpractically zero flexibility in the circumferential direction.

In the preferred design of the linkage referred to in the precedingparagraph and which is depicted in FIGS. 20 and 23, the abovementionedtransverse component is an annular diaphragm 524 with concentriccorrugations having an exterior edge attached to frame 400 by a firstrigid ring 525 and having an interior edge attached to the secondelement 403 on one of the extreme ends of the latter by a second rigidring 526. Ring 525 may be axially secured by the end frame 400b againstthe exterior race of bearing 425a and an annular block 527 and preventedfrom rotating by keys 528 in exterior slots 529 (FIG. 23) of ring 525.The ring 526 can be attached to the second element 403 by a screw 530which also serves to attach the annular ring 522. The operation of thediaphragm 524 (or equivalent component) is similar to the conical gearsdescribed above with respect to FIGS. 9-19. It facilitates theconstruction of the transmission by freeing the central portion of thelatter and by permitting the entire essentially cylindrical portion ofthe support 413 to be constructed in one piece.

Another aspect of the embodiment of FIGS. 20-23 concerns the shape ofthe rolling surfaces 408 and 409 of the first element 402 and thesurfaces 419 and 420 of the second element 403 which facilitate arelatively small axial displacement by the hydraulic control system butwhich will result in a relatively large axial displacement of contactpoints P₁ and P₂. For this purpose, these rolling surfaces have curvedgeneratrices whose radii of curvature are comparable to each other andare long with respect to the average distance of each surface from itsaxis of revolution 407 or 412. The ratio between these radii ofcurvature and this average distance is preferbaly between about 10 and100. Thus, the generatrices of the two surfaces 408 and 409 of the firstelement 402 are curved so that these surfaces are concave in formwhereas the generatrices of the two surfaces 419 and 420 are curved sothat these latter surfaces are convex in form. In FIG. 20, r₁ indicatesthe radius of curvature of one of the two generatrices of the surface408 which are located in the plane of the figure and r₂ indicates theradius of curvature of one of the two generatrices of surface 419 whichalso is located within this plane, these two generatrices being tangentat point P₁. Radius r₁ is slightly larger than radius r₂ but is of thesame order of magnitude.

The radii of curvature r₁ and r₂ can be calculated as a function of theangle of inclination a so as to obtain the desired result. This resultis a compromise between acceptable efficiency (related to the area ofthe contact zones) and a large displacement of points P₁ and P₂ for arelatively small displacement of sections 404 and 405 and, consequently,of rings 427 and 428. Because of this, a variation of transmission ratiois obtained which is not only economical but practically withoutinertia.

To provide an understanding of the manner in which various embodimentsof the transmission previously described may be used with a reciprocableinput, reference is now made to FIGS. 24-32. The organization shown inthese figures concerns various types of power plants in which reciprocalpiston movement of such thermal engines as a Stirling engine or internalcombustion engines operable in accordance with well known Otto and/orDiesel thermal cycles, is converted to output torque directly by thetransmission of this invention.

In FIGS. 24 and 28 of the drawings, an embodiment is shown to employ aheat engine of the Stirling cycle type including an enclosure 601 ofhigh heat-resistant material, i.e., ceramic. The approximately circularenclosure delimits a chamber 616 closed at one end by a ceramic wall 602and communicating with the exterior through two apertures 603 and 604 ina well 606 which closes the other end of the chamber. The center of theenclosure is the longitudinal axis of the heat engine.

The apertures 603 and 604 are designed so as to permit the entry of airneeded for combustion of fuel and evacuation of the exhaust gases in thedirection indicated by arrows 607 and 608, respectively. The fuel issupplied by tubing 609 in the longitudinal axis of the engine andinjected into the chamber through the port 610. A sparkplug 611connected to an electric source (not shown) by the wire 612 initiatescombustion. Air enters the chamber by way of a number of ports 613 inthe well 614 so as to intermix air and fuel homogenously.

In order to recover a part of the heat in the exhaust gases, a rotatingheat exchanger 615 is provided. Cold intake air is heated during passagethrough the exchanger 615 heated by the exhaust gases. Within thechamber 616 are four finned reheaters, only two of which, 617 and 618are visible in FIG. 24. A good heat-conducting gas with low viscosity,e.g., hydrogen or helium, circulates within the reheaters. The way inwhich the reheaters are connected to the chambers of the heat enginewill be described below.

The heat engine has a system of cylindrical chambers mounted on the bodyor frame 619 thereof in a circle around longitudinal axis 605 of theengine. Such chambers including four variable-volume chambers at highmean temperature, only two of which 620 and 621 are shown in FIG. 24 andfour variable-volume enclosures at low mean temperatures, two of which622 and 623 are also shown in FIG. 24.

The chambers at high mean temperature are housed in the ceramic wall 602terminating at the combustion chamber 616. Tubing 624 and 625 connectchambers at high mean temperature 620 and 621 to chambers at law meantemperature 622 and 623, the latter being shifted by 90° around engine605 in relation to the hot chambers. The tubing also connects thereheaters 617 and 618, regenerators 626 and 627 and radiators 628 and629.

The regenerators are of ceramic material and operate to withdraw part ofthe heat energy from the active fluid when it is hot and heat it aftercooling. The radiator 628 and 629 have a flow of water and cool the hotgas which flows through them. The active fluid (hydrogen or helium)circulates alternately from the hot chamber to the cool chamber andtraverses, first in one and then the other direction. The reheater,regenerator and radiator are well known components in a Stirling engine.

The chambers are defined by cylindrical walls 680 and 681 in whichpistons 630 reciprocate on axes parallel with the longitudinal engineaxis The hot variable-volume space 620 is closed by the face 630a ofpiston 630 and the cool variable-volume 630b is closed by the other face630b of the same piston. The piston cylinders are integral with the body619 and the ceramic wall of 602 of the combustion chamber 616. They areuniformly offset by 90° around axis 605.

Further description of the well known Stirling cycle is believedunnecessary except to note that it has four phases (injection,compression, expansion, cooling) and that the pistons travel parallel toaxis 605. Also, the alternate motion of the pistons is out-of-phase byan angle of about 90°.

The alternate motion of the pistons is transmitted by a system ofconnecting rods 632 and 633 to a transmission to be described furtherbelow. The connecting rods 632, 633 are sealed by deformable skirts 675,676 to the walls of the low temperature chambers space to preventleakage. In order to balance the pressure within the chamber, acounterpressure is provided downstream of the skirt by a pressurizedfluid injected through the channel 677.

Shown on the right side of FIG. 24 is a transmission having a rotatingelement 634 of biconical configuration for rotation as an integralportion with a torque output shaft 635. The element 634 is supported bytwo bearings 636 and 637 centered on the axis 605. The element 634 hastwo conical rolling surfaces 634a and 634b, thus arranged symmetricallyon either side of a point S of the axis 605. These surfaces revolvearound the axis 605 and the transverse dimension or radius decreasesprogressively from a plane perpendicular to the axis 605 at point S.

The transmission also has a universally pivotal bed plate (sometimescalled a swash plate) 638 in the nature of a radial flange-likeprojection on an elongated, generally cylindrical body 639 in which aremounted two axially adjustable rings defining circular rolling reactionsurfaces 640 and 641. The axis 720 of the cylindrical body passesthrough the point S of the axis 605 and is inclined from the latter byan angle a. The angle a is substantially equal to the half-angle at theapex of the conical rolling surfaces 634a and 634b. The rolling surfaces640,641 revolve in planet fashion about the axis 720 and are movableaxially in relation to each other along that axis. The rolling surfaces640, 641 being formed on the two annular rings as shown, are adjustablesymmetrically in relation to a plane perpendicular to the axis 720 ofthe cylindrical body at point S by two threaded rods 643, 644 eachhaving a right-hand thread and a left-hand thread engaged by nut-likeinternal threads on the rings defining the surfaces 640 and 641. Therods are rotated by a reversible hydraulic drive device 645 mounted atthe end of the cylindrical body 639. Hydraulic fluid supply tubes forthe drive device are shown in FIGS. 24 and 27 at 646, 646a, 646b. Therolling surfaces 640 and 641 are kept in contact (by means to bedescribed below) with the conical surfaces 634a and 634b of the rotatingelement at the two points P₁ and P₂.

The bed plate 638 is supported from the frame 619 by a gimbal systemshown in FIG. 25 so that the plate can veer or pivot freely in alldirections about the point S. The axis 720 of the cylindrical body 639therefore may be moved to define a nutational double cone with a commonapex at S and with a half-angle equal to a at the apex S.

At the periphery of the bed plate are four bosses 647 and 648 shown inFIG. 24. The bosses define sockets to receive ball portions 649 and 650of ball-and-socket joints having centers lying in a plane perpendicularto the axis 720 at point S, the ball portion of such joints beingintegral with links 651 and 652. The links are also integral at theother end with ball portions 653, 654 of ball-and-socket joints. Theballs 653 and 654 are lodged in the semispherical recesses 655, 656 atthe ends of the connecting rods 632, 633. Lubricating circuits 657supply oil to the bearings of the rotating element 634, theball-and-socket joints and to the shaft articulations of the gimbalsystem.

The ends of the cylindrical 639 are rotatably connected by bearings 691with two auxiliary components 690, 692 rotatable about the axis 605 atthe same speed Wa as axis 720. Although the bearings 691 are depicted inthe drawings as ball bearings, they allow a slight degree of relativepivot motion of body 639 about the axis S to effect deployment of thegyroscopic couple in a manner described above with respect to FIGS. 1-8.The masses of the two components 690, 692 are so distributed as tobalance out the rotating couple of reaction on the body 639 caused byforcing the rolling surfaces 640 and 641 against the conical surfaces ofthe rotating element 634. In addition, one of the auxiliary components692 has a toothed rim meshing with both a crown wheel 693 of take-offshaft 694 and with crown wheel 695 driven by a starting mechanism 696.The latter is provided to initiate the veering motion of the bed plateduring the starting of the transmission and the heat engine. Thetake-off shaft 694 is used to activate the mechanisms of the heat enginewhich must be set in motion at a speed proportional or equal to thespeed Wa of axis 720 around axis 605.

The gimbal system supporting the veering bed plate 638 is shown clearlyin FIG. 25. The gimbal system includes a square cage 658 which turnsfreely on pivots 659 and 660 integral with the frame 619 and having axespassing through the point S. The cage 658 itself has two pivots 662, 663on axes also passing through the point S and movable freely in the twobosses 664, 665 of the bed plate 638.

FIG. 25 also shows the network of lubricating circuits which oil thebearings of the pivoting parts, specifically the four bosses 647 (seenfrom the back), in which are articulated the ball-and-socket joints ofthe connecting rod head and the four pivots 659, 660, 662, 663 forarticulation of cage 658.

Also shown in this figure are the ends of the threaded rods 643, 644which adjust the rolling surfaces 640 and 641 along the longitudinaldirection of axis 720. It will be noted that the rings forming therolling surfaces 640 and 641 have shoulders, such as 641a, slidingwithin grooves, such as 666, in the cylindrical body 639 integral withthe bed plate 638. Due to the grooves and shoulders, the axiallyadjustable rolling surfaces are fixed in rotation with the veeringmotion of the bed plate.

Shown in FIG. 26 are the threaded rods 643, 644 for adjusting theannular rings on which the tracks 640 and 641 are formed. Also shown arefour cutouts 667, 668, 669, 670 which allow passage of the articulatedlinks along the outside of cylindrical body 639.

In FIG. 27 the threaded rods 643, 644 are shown as coupled to the gears672, 673 lodged in recesses of the cylindrical body 639. These gearsmesh with a crown wheel 674 rotatable freely in a groove of thecylindrical body 639.

In a known manner, the hydraulic fluid rotates the crown wheel, thusrotating the threaded rods back and forth and consequently inducing theaxial displacement of the rolling tracks 640, 641.

The manner in which the linkage arrangement thus described drives thebed plate in a veering movement with angle a at a speed Wa around thepoint S will be described in more detail below.

The mechanical system for forcing the rolling surfaces 640, 641 of thebody 639 against the rolling surfaces 634a, 634b of the rotating element634 is of gyroscopic origin and described above.

Although this system need not be again fully described it will sufficeto note that the whole of the forces of elementary inertia originatingin the mass of the bed plate 638 and of the cylindrical body 639 due tothe center of gravity of the bed plate and body lying on the point S, isreduced to a couple whose intensity is a function of (a) the principlemoments of inertia of the component defining the bed plate 638 andcylindrical body 639 in relation to the axis 720 and in relation to anaxis passing through S perpendicular to the axis 720; (b) of the angle aof inclination of the axis 720 in relation to longitudinal axis 605; (c)of the speed Wa of axis 720 in relation to axis 605; (d) of the speedWb* of the bed plate 638 and body 639 about the axis 720 (the speed Wb*having been measured in a frame of reference rotating at the speed Wawith axis 720). The speed Wb of the bed plate and body around axis 720is zero in this instance because of the gimbal connection to the frame619. Thus, the absolute value Wb* is equal to the speed Wa of axis 720around axis 605.

The developed force couple causes the tilt of bed plate and cylindricalbody so as to force the surfaces 640, 641 in contact at P₁ and P₂ withthe rolling surfaces of the rotating element 634. The force of contactat P₁ and P₂ as a result of the gyroscopic couple is adequate in normaloperation to prevent slippage of surfaces 640 and 641 on the surfaces634a and 634b. The internal forces of the piston motion are added tothose of the gyroscopic couple. These inertial forces reach theirmaximum at the end of their stroke and appreciably contribute to theforce by which the respective rolling surfaces are retained against eachother.

Movement of the bed plate in a veering motion about the point S by thepistons causes rotation of the rotating element 634 and, consequently,of take-off shaft 635 due to nutational movement of the annular surfaces640, 641.

Previously, there is described the kinematic relation linking the speedof rotation W of the rotating element to the speed Wa of axis 720 aroundaxis 605. This relation is a function of the ratio of the gyratory radiiof the points P₁ and P₂ in relation to axis 605 and in relation to axis720. A modification of this ratio involves a modification of the ratiospeeds Wa and W of the bed plate and of the rotating element. Since thespeed Wa of the bed plate itself is a function of the frequency of thealternate motion of the pistons, it is possible to vary the speed W ofthe take-off shaft without modifying the frequency of piston action bychanging the ratio of the gyratory radii.

The mechanism permitting axial displacement of tracks 640, 641 isdescribed above. Taking into account the angular equality between thehalf-angle at the summit of the rolling surfaces 634a and 634b and theangle of inclination a of axis 720 from axis 605, it will be seen thatthe axial displacement of pistons 640 and 641 does not produce anychange in the angle of inclination a or any change of the gyratoryradius of the point of contact around axis 720. On the other hand, thisaxial displacement modifies the value of the gyratory radius of thecontact points P₁ and P₂ in relation to axis 605. Due to this fact, themechanism of axial displacement of the pistons allows change in thespeed W of the take-off shaft in relation to the frequency of pistonaction.

In FIGS. 29-32 of the drawings, an alternative embodiment of theinvention is shown in which the force holding the rolling surfaces ofthe first and second transmission elements against one another isdeveloped by mechanical means generating a force couple counterbalancedby the aforementioned gyroscopic force couple. The particular heatengine illustrated in FIG. 29 includes pistons 822 reciprocable incylinders 824 arranged in a circle around the longitudinal (or first)axis 840 of the transmission. In other words, pistons 822 reciprocate indirections parallel to the first axis 840. Also, the longitudinal axes843, 844 of the cylinders and pistons are therefore substantiallyparallel to the first axis 840. In a known manner, the pistons aredriven by the combustion and expansion of thermal fluid drawn into thecylinders and exhausted therefrom through a system of valves activatedby cams 833.

The frame 832 of the transmission is mounted integrally with thecylinders 824 by emplacement of the four cylinders in an annular chamber823. A space is provided between the chamber walls and the outer wallsof the cylinder so as to permit circulation of a cooling fluid. The fourcylinders and pistons of the heat engine are mounted uniformly aroundthe first axis 840 spaced 90° from each other. It should be noted thatit is not absolutely necessary that the heat engine have four cylinders.It may have more but should preferably have at least three.

The output of the engine is by way of a transmission, to be described,to a torque delivering shaft 801 rotatable in relation to the frame 832about the first axis 840 by a series of bearings 802 and 803 mounted ateach end of the transmission frame 832. This shaft 801 defines part of afirst element 805 having two rolling surfaces 805a and 805b, revolvingaround axis 840. The surfaces have a generally conical configuration andare disposed symmetrically on either side of a plane perpendicular toaxis 840 at a point S. The surfaces 805a and 805b are coupled forrotation with the shaft 801 by means of helicoidal ramps 804 whichfunction in a manner to be described below.

A rotatable support 810 is carried by two series of bearings 811 and 812for rotation about the first axis 840. The support 810 is formed with acylindrical inner surface on an axis 841 (or second axis) which formsthe angle a with axis 840 at the point S. The support 810 surrounds therolling surfaces 805a and 805b rotating with shaft 801. A cylindrical(or second) element 807 is rotatably supported within the support on theaxis 841 by two series of bearings 808 and 809. The cylindrical element807 has two rolling surfaces 806a and 806b revolvable around the axis841 and are generally cylindrical in configuration. These rollingsurfaces are disposed symmetrically in relation to a plane 842perpendicular to axis 841 at S. They are also mounted to be movableaxially within element 807 and rotate integrally with the latter due toa system of cylindrical guides 813.

The rolling surfaces 806a and 806b of element 807 are adjustable axiallyby a hydraulic system by which fluid is delivered by flexible tubing(not shown) through a nipple 814 to a longitudinal channel 814 machinedin the element 807. Channel 815 delivers the fluid to two annularchambers 816 and 817 situated at the ends of the second element, oneface of which is respectively defined by a shoulder integral with themembers defining the rolling surfaces 806a and 806b. The entry of apressurized fluid in the annular chambers causes the axial displacementof the rolling tracks 806a and 806b for reasons which will becomeapparent from the description to follow below.

The position of the support 810 and bearings 811, 812, 808 and 809allows the second element to veer around axis 841 and to maintain theangle of inclination a essentially constant.

Mounted integrally with one end (the lower end in FIG. 29) of the secondelement 807 are a plurality of bell-crank extensions 821, one for eachpiston, and pivotally connected at their projected ends with the pistons822. The pivotal connection of the pistons to the extensions are locatedapproximately in a plane 842 perpendicular to axis 841 at S.

It will be seen in FIG. 29 that the curved or bellcrank shape of theextensions 821 allows adequate free space around the second element sothat the design of the support 810 may be simple and inexpensive.

To facilitate conversion of reciprocal piston thrust to a veering ornutating movement in the second element 807, connecting links arearticulated both on a part 831 of the frame 832 and on the element 807by ball-and-socket joints respectively 829, 830 and 827, 828. The joints827 and 828 are mounted on an annular collar 818 mounted on the secondelement by bolts 819. The manner in which this assembly is constructedand arranged to achieve the desired motion of the second element 807 isshown schematically in FIG. 31. In this illustration, the first axis840, the center S of veering or tilting, the second axis 841, the plane842 perpendicular to the second axis 841 passing through S and the angleof inclination a of the second axis in relation to the first axis areschematically represented. Given the position of the centers 849 and 851of the ball-and-socket joints 829 and 830, the position of the centers848 and 850 of the ball-and-socket joints 827 and 828 as well as thelengths 852 and 853 and the links 825 and 826 can be determined.

In particular and starting from line 847 joining the centers S and 849,an angle 855 equal to angle a can be plotted. On a side 846 of thisangle, a line equal in length to the distance between the end of thesecond element and the center S can be established. The position of thecenter 848 of ball-and-socket joint 827 is thus obtained. The length 852of the link 825 is then given by the distance between the center 848 and849. This design criterion applies to each of the links to be used.

Preferably, the center 849 is positioned so that when a piston 822 is attop dead center as shown in FIG. 29, the orientation of link 825 isabout the same as that of axis 841. With these conditions, the maximumthrust of the pistons is best compensated.

Bevel gearing 834 rotating integrally with the support 810 rotates atthe speed Wa of the second axis in relation to the first axis and isutilized for synchronizing the action of the auxiliary mechanism of theheat engine.

In operation, the alternating reciprocable motion of pistons 822 by theexpansion of the fluid is transmitted by the extensions 821 a veering ornutating motion in the second element 807 due to the constructionsupporting frame 810. The rolling surfaces 806a and 806b rotate withoutslippage around the tracks 805a and 805b and therefore cause the latteras well as the shaft 801 to rotate around the first axis 840.

The kinematic relations linking the rotary speed Wa of the secondelement around the first axis at the speed W of shaft 801 areessentially the same as those described above.

Contact pressure between the respective surfaces 805a, 805b and 806a,806b is developed by a system of helicoidal ramps 804 on which theconical members defining the surfaces 805a and 805b are threaded. It isknown that the load on the shaft 801 creates a reaction couple opposingrotation of shaft 601. Such a reaction couple tends to produce an axialdisplacement of the surfaces 805a and 805b when the latter, entrained bythe surfaces 806a and 806b of the second element 807, tend to rotatearound the axis 840. This results in a pressure at the point of rollingsurface contact approximately proportional to the reaction couple on theshaft 801.

A spring 900 is inserted between the two members defining the surfaces805a and 805b. Its function is to apply the surfaces 805a and 805bagainst the surfaces 806a and 806b and to create sufficient contactpressure during the initial starting phase and in the case where theoutput torque is zero.

The mechanical system to produce the contact pressure is not the onlyone possible. It might be replaced by an elastic system having springsaxially restraining the rolling surfaces 805a and 805b or by a hydraulicsystem lodged between shaft 801 and the rolling surfaces 805a and 805b.

To vary the ratio of transmission, the action of surfaces 806a and 806bby the hydraulic system described above, together with the action of theramps 804, results in an axial displacement of surfaces 805a and 805b.This results in a longitudinal adjustment of the points of contactbetween the rolling surfaces 806a-805a and 806b-805b. This in turnresults in a change of the gyrational radii of these contact points inrelation to the first and the axis. Such a variation of these gyrationalradii is translated into a variation of the transmission ratio.

It should be noted that the meridianal profile of the rolling surfacesis similar to, but a convex-concave reversal of the profile describedabove with respect to FIGS. 20-23. As such, these surfaces are welladapted to induce large variations of the contact-point positions by aslight change in the axial position of the rolling surfaces of thesecond element. In particular, the illustrated profile of the rollingsurfaces is characterized by the fact that the radii of the meridiancurve of the rolling surfaces are of the same order .[.to.]. .Iadd.of.Iaddend.magnitude and of an order of magnitude indicated by thetransverse dimensions of the transmission. The radius of this curvatureis about equal to between 10 and 100 times the maximum transversediamter of the rolling surfaces of the second element.

In a variant shown in FIG. 30, components described with reference toFIG. 29 are designated by reference numbers and no further explanationof such components is believed necessary. In this instance, two of thecylinders and pistons are located symmetrically in relation to point S.The extensions 821 are therefore mounted at opposite ends of the secondelement 807. This symmetrical position of the cylinders augmentssynchronization of their thermal cycle. In particular, this head-to-footposition of the cylinders allows an automatic compensation of the axialcomponent of the piston thrust. Consequently, the system of links 825and 826 described previously is not needed.

Otherwise, the functioning of this transmission is comparable, if notidentical, to that of the first solution.

This invention has been illustrated in detail by two solutions forconstruction of a heat engine. It is obvious that the present inventioncovers any other coupling means having reciprocating motion.Specifically, in place of the receiver shaft 801 may be a motor shaftand the pistons 822 may be those of a compressor.

In FIG. 32, a constructional variation of the linkage and transmissionof FIGS. 29-31 is combined with a Sterling engine. The reference numeral951 thus generally designates the heat engine which employs the Sterlingcycle previously described with respect to FIG. 24. In FIG. 32, most ofthe components already described in relation to FIGS. 24-31 are shown inFIG. 32 and designated by reference numerals having the same ten andunit integers but in a 900 series. The ensuing description, therefore,will be confined to the connections between the inwardly curvedextensions 920 and 921.

It is to be noted with respect to FIG. 31, that the projecting ends ofthe extension describe a path around axes 843 and 844 of the cylinderswhich defines a circle when projected on a transverse plane and having adiameter D in the formula D=E (1-cos a) where E represents the distancebetween the axis 843 of the cylinder and the first axis 840. It isdesirable, if not dispensable, therefore, to either design the joint ofthe projecting ends of the bell-crank like extensions in such a mannerthat the center of the joint will describe a circle around the axis ofthe piston or to design the piston in such a manner that the center ofthe joint will describe a circle around the axis of the piston or todesign the piston in such a manner that the assembly of extension, jointand piston can describe a circle around the axis of the cylinder. Such adesign may reside theoretically in providing a cylinder whose diameteris slightly larger than that of the piston in accordance with the aboveformula.

Thus in FIG. 32, dynamic coupling devices are shown to include a slide989 which is at least partially cylindrical. This slide glides along theaxis of the cylinder of the heat engine with a guide 990 which is atleast partially cylindrical. The diameter of the slide is slightlysmaller than the diameter of the guide. This difference in diameter isequal to D and is given by the formula D=E (1-cos a). The slide assemblyis mounted at the end of the rod 933 that is connected to the piston 930of the heat engine. It is mounted in such a manner that the slide canmove freely in a transverse plane while still being linked with the rodin an axial direction. On the slide is mounted (in a well-known manner)a Cardan joint, one of whose parts is connected to the end of extension921, the center of the Cardan joint being located in plane 942. Due tothe ability of the slide to move laterally, it can follow the circularmotion of the end of extension 921 while still being supported by one ofits generatrices in cylindrical guide 990. Thus, the second element isconstrained to rotate together with the frame. (Wb=0 and Wb*=Wa).

Thus it will be seen that by the foregoing inventions there is provideda highly effective transmission having broad application to many usesand environments. That the invention may be manifested by numerous anddiverse specific embodiments is evident from the numerous embodimentsdescribed. It is contemplated, however, that still further variations ofthe transmission as disclosed herein will be apparent to those skilledin the art from the preceding description. For example, it is fullywithin the contemplation of the present invention that theaforementioned generally conical surfaces be located on the innermostsurface of the outermost cylindrical element rather than on the elementwhich is positioned inside of such cylindrical element. Similarly, whilethe preferred embodiments of the present inventions are all restrictedto a structure in which one of the first or second elements has rollingsurfaces which, generally speaking, are the surfaces of cones having anapex half-angle equal to or slightly smaller than the angle ofintersection of the first and second axes, certain features of thepresent inventions are themselves novel and patentable per se withoutregard to such conical arrangement. An example of such a per se novelfeature is the provision for eliminating the degree of freedom of thesecond element so as to prevent it from pivoting about the point of axesintersection, the result of such freedom being to utilize the gyroscopiccouple to counterbalance forces by which the rolling surfaces are heldin frictional contact by mechanical means. Such feature could,accordingly, be used with advantage not only in the conicaltransmissions of the present application but in transmissions such asare disclosed in applicant's aforementioned U.S. Pat. No. 3,955,432. Afurther example of a per se novel feature is the use of a reciprocableinput in combination with applicant's transmissions. While suchreciprocable input is preferably used in combination with the conicalarrangement described in the instant specification, it can also be usedwith transmissions such as are described in applicant's U.S. Pat. No.3,955,432. Accordingly it is expressly intended that the describedembodiments are exemplary only, not limiting, and that the true spiritand scope of the present inventions be determined by reference to theappended claims.

I claim:
 1. A transmission device comprising a frame, drive input means,drive output means, and means interconnecting said input and outputmeans including a first element having a first axis fixed relative tothe frame, and a second element rotatable about a second axisintersecting said first axis at a point thereon, said second elementbeing driven conically about said point on the first axis andcircumferentially of said first axis, said first element having a pairof rolling surfaces disposed about said first axis one each side of theplane passing through the point of intersection of said axes andperpendicular to said first axis, said second element having a pair ofrolling surfaces disposed about said second axis, one each side of theplane passing through the point of intersection of said axes andperpendicular to said second axis, rolling surfaces of one of saidelements being the surfaces of cones having an apex half-anglesubstantially equal to the angle of intersection of said first andsecond axes, a gyroscopic action of said second element producing acouple .[.bringing.]. .Iadd.holding the .Iaddend.respective rollingsurfaces on said first and second elements .[.into.]. .Iadd.in.Iaddend.rolling engagement at two points located one each side of theplane passing through the point of intersection of said axes andperpendicular to said first axis.
 2. A transmission device as claimed inclaim 1 wherein the second element has a degree of freedom in adirection parallel to the plane containing said first and second axes,which allows the rolling surfaces of said second element to come freelyto lie against those of the first element under the gyroscopic action ofsaid second element.
 3. A transmission device as claimed in claim 1wherein the two rolling surfaces of the first element are symmetricallyarranged relative to the plane passing through the point of intersectionof said first and second axes and perpendicular to the first axis, andthe two rolling surfaces of the second element are symmetricallyarranged relative to the plane passing through the point of intersectionof said first and second axes and perpendicular to the second axis.
 4. Atransmission device as claimed in claim 1 wherein the center of gravityof the second element is located at the point of intersection of thefirst and second axes.
 5. A transmission device as claimed in claim 1wherein the second element is a substantially solid body of revolution.6. A transmission device as claimed in claim 1 wherein the two rollingsurfaces of the first element have a concave section in a transverseplane and have a convex toric section in a meridianal plane, and the tworolling surfaces of the second element are conical and convex in atransverse plane.
 7. A transmission device as claimed in claim 1including means for moving the rolling surfaces of at least one of thefirst and second elements relative to each other so as to vary thetransmission ratio.
 8. A transmission device as claimed in claim 7wherein the axially movable rolling surfaces are those of the firstelement.
 9. A transmission device as claimed in claim 1 including adrive transmission shaft, provided with a single truncated cylindricalpart having as its axis said first axis and having at each end arespective support plate, the second element being provided with a pairof coaxial half shafts fixed relative thereto, bearings on therespective support plates rotatably supporting the half shafts, and theaxis of the half shafts being said second axis.
 10. A transmissiondevice as claimed in claim 9 including sleeves which are prismatic intheir external shape and which contain said bearings in which the twohalf shafts are supported, said sleeves being mounted in said supportplates with play in a plane containing the first and second axes andwith substantially no play in the direction perpendicular to this plane,whereby the second element is mounted on the support plates with asufficient degree of freedom for it to be able to pivot about an axisperpendicular to the plane containing the first and second axes to bringthe rolling surfaces of said first and second elements into engagement.11. A transmission device as claimed in claim 1 including a drivetransmission shaft, provided with a first support plate having as itsaxis said first axis, a support shaft having as its axis said secondaxis, said support plate being immovably secured to one end of saidsupport shaft having as its axis said second axis, a second supportplate freely pivotable about said first axis independently of said firstsupport plate, the other end of the support shaft being immovablysecured to said second support plate, and said second element beingfreely rotatable about said support shaft.
 12. A transmission device asclaimed in claim 11 including a cage prismatic in external form,bearings mounted in said cage, said support shaft passing through saidbearings mounted in said cage, said prismatic cage being mounted in saidsecond element with play in the plane containing said first and secondaxes, and no substantial play in the direction perpendicular to thisplane, whereby the second element is mounted on the support shaft with asufficient degree of freedom for it to pivot about an axis perpendicularto the plane containing the first and second axes.
 13. A transmissiondevice as claimed in claim 1 including a drive transmission shaft, agear-train linking said second element to said drive transmission shaft,said linking gear train comprising three conical convex gears having acommon apex at the point of intersection of said first and second axes,a first of the gears having as its axis said second axis and beingmounted for rotation with the second element about the second axis, asecond of the gears meshing with the first, a shaft carrying said secondgear and having an axis passing through the point of intersection ofsaid first and second axes, a satellite support plate rotatable aboutsaid first axis and rotatably mounting the second gear on the axis ofsaid last-mentioned shaft, and the third of the gears meshing with thesecond gear and having as its axis said first axis, and said third gearbeing carried by said drive transmission shaft.
 14. A transmissiondevice as claimed in claim 1 including a first drive transmission shaftprovided with a single truncated cylindrical part having as its axis thesaid first axis and having at each end a respective support plate, thesecond element being provided with a pair of coaxial half shafts fixedrelative thereto and rotatably supported in bearings on the respectivesupport plates, the axis of the half .[.sheets.]. .Iadd.shafts.Iaddend.being the said second axis, and a second drive transmissionshaft rotationally linked to the second element by means of a .[.fear.]..Iadd.gear .Iaddend.train comprising three conical convex gears having acommon apex being the point of intersection of said first and secondaxes, a first of the gears having as its axis said second axis and beingmounted for rotation with the second element about the second axis, asecond of the gears meshing with the first, and being carried rotatablyby a shaft the axis of which passes through the point of intersection ofsaid first and second axes, said shaft being mounted in a satellitesupport plate which satellite support plate is rotatable about saidfirst axis, and the third of the gears meshing with the second gear andhaving as its axis said first axis, said third gear being carried bysaid second drive shaft and said satellite support plate being immovablysecured to said first drive transmission shaft.
 15. A transmissiondevice as claimed in claim 1 wherein the second element is rotationallylinked to a drive transmission shaft by means of a gear-train, saidlinking gear train comprising two conical convex gears having a commonapex being the point of intersection of said first and second axes, afirst of these gears having as its axis said second axis and beingmounted for rotation with the second element about said second axis, thesecond of the gears meshing with the first and having as its axis saidfirst axis, said second gear being borne by said drive transmissionshaft.
 16. A transmission device as claimed in claim 1 wherein thesecond element is rotationally linked to a drive transmission shaft bynmeans of a gear-train, said linking gear train comprising two conicalgears having a common apex being the point of intersection of said firstand second axes, a first of the gears being convex and having as itsaxis said second axis, said first gear being mounted for rotation withthe second element about said second axis, the second of the gearsmeshing with the first and being concave, said second gear having as itsaxis said first axis and being mounted for rotation with said drivetransmission shaft.
 17. A transmission device as claimed in claim 8wherein the first element comprises two parts axially movable relativeto each other and on which the two reaction surfaces of the firstelement are formed, the two parts of the first element being mounted inslidable fashion in a support casing having as its axis said first axis,said support casing being rotationally linked to a drive transmissionshaft.
 18. A transmission device as claimed in claim 8 wherein themember for varying the relative axial position of the two reactionsurfaces of the first element comprises a rod the axis of which isparallel to said first axis, said rod being threaded, having twoidentical portions of opposite thread and being rotatable about its axisby a control member.
 19. A transmission device as claimed in claim 17wherein the member for varying the relative axial position of the tworeaction surfaces of the first element comprises a rod the axis of whichis parallel to said first axis, said rod being threaded, having twoidentical portions of opposite thread and being rotatable about its axisby a control member.
 20. A transmission comprising a frame, drive inputmeans, drive output means, and means interconnecting said input andoutput, said interconnecting means comprising a plurality oftransmission devices each including a first element having a first axisfixed relative to the frame, and a second element rotatable about asecond axis intersecting said first axis at a point thereon, said secondelement being driven conically about said point on the first axis andcircumferentially of said first axis, said first element having a pairof rolling surfaces disposed about said first axis one .Iadd.on.Iaddend.each side of the plane passing through the point ofintersection of said axes and perpendicular to said first axis, saidsecond element having a pair of rolling surfaces disposed about saidsecond axis, one .Iadd.on .Iaddend.each side of the plane passingthrough the point of intersection of said axes and perpendicular to saidsecond axis, the rolling surfaces of one of said elements being thesurfaces of cones having an apex half-angle substantially equal to theangle of intersection of said first and second axes, a gyroscopic actionof said second element producing a couple bringing respective rollingsurfaces on said first and second elements into rolling engagement attwo points located one .Iadd.on .Iaddend.each side of the plane passingthrough the point of intersection of said axes and perpendicular to saidfirst axis, and the transmission devices being coupled so that theresultant of the gyroscopic couples to which the second elements of thetransmission devices are subjected is substantially zero.
 21. Atransmission as claimed in claim 20 including three transmission devicesmounted in a star shape at intervals of 120° about a general axis of thetransmission, the two rolling surfaces of the first elements beingcommon, and locked against rotation on the frame about the said generalaxis.
 22. A transmission device as claimed in claim 1 wherein means areprovided respectively rotationally linking drive transmission shafts tothe angular velocity of the first element about said first axis, theangular velocity of said second element about said second axis, and theangular velocity of nutation of said second axis about said first axis,and rotational coupling means being provided between at least two of theshafts.
 23. A transmission device comprising: a frame, drive inputmeans, drive output means, and means interconnecting said input andoutput means including a first element having a first axis fixedrelative to the frame, .[.and.]. a second element having a second axisintersecting said first axis at a point thereon, .Iadd.and support meansto engage said second element on said second axis at opposite sides ofsaid point, said support means being rotatable on said first axis undera torque couple driving .Iaddend.said second element .[.being driven.].conically about said point on said first axis and circumferentially ofsaid first axis, said first element having a pair of rolling surfacesdisposed about said first axis, one on each side of a first planepassing through said point of axes intersection and perpendicular tosaid first axis, said second element having a pair of rolling surfacesdisposed about said second axis, one on each side of a second planepassing through said point of axes intersection and perpendicular tosaid second axis, the respective rolling surfaces on said first andsecond elements being in rolling frictional engagement at two points ina third plane containing said first and second axes and located one oneach side of said first plane, and the rolling surfaces of one of saidelements being the surfaces of cones having an apex half-angle relatedto the angle of intersection between said first and second axes in amanner to enable the spacing between said respective two points ofrolling frictional engagement and said point of axis intersection to beadjusted along the length of said rolling surfaces for any given angleof said first and second axes intersection, and means for forcing saidrespective rolling surfaces of said first and second elements intorolling friction engagement with each other at said two points.
 24. Theapparatus recited in claim 23 wherein said means for forcing saidrolling surfaces into rolling friction engagement includes means todevelop a gyroscopic couple tending to tilt said second element aboutsaid point of axes intersection.
 25. The apparatus recited in claim 24wherein said means to develop a gyroscopic couple causes said.Iadd.gyroscopic .Iaddend.couple to act in a direction forcing saidrespective rolling surfaces into engagement with each other at said twopoints.
 26. The apparatus recited in claim 25 .[.including.]..Iadd.wherein said support .Iaddend.means .[.to support at least oneof.]. .Iadd.supports .Iaddend.said .[.first and.]. second .[.elements.]..Iadd.element .Iaddend.with limited pivotal freedom in said third planeso that said rolling frictional engagement is maintained only by saidgyroscopic couple.
 27. The apparatus recited in claim 24 wherein saidmeans for forcing said respective rolling surfaces into engagement witheach other at said two points develops a second force couple betweensaid first and second elements, said means to develop said gyroscopiccouple causing said gyroscopic couple to act in a direction tocounteract said second force couple.
 28. The apparatus recited in claim23 including means to shift said two points of rolling frictionengagement axially toward and away from said point of axes intersectionthereby to vary the speed ratio of said drive input means and said driveoutput means in accordance with the radius of said cones at said twopoints of rolling friction engagement.
 29. The apparatus recited inclaim 23 wherein said cones have an apex half-angle equal to said angleof intersection.
 30. The apparatus recited in claim 23 wherein saidcones have an apex half-angle less than said angle of axes intersection.31. The apparatus recited in claim 23 wherein the generatrix of each ofsaid cones is a curve.
 32. The apparatus recited in claim 31 in whichthe generatrix of each of said cones is curved in a meridianal plane toprovide a concave surface conformation.
 33. The apparatus recited inclaim 31 in which the generatrix of each of said cones is curved in ameridianal plane to provide a convex surface conformation.
 34. Theapparatus recited in claim 23 in which the generatrix of the rollingsurfaces of each of said first and second elements is a curve having aradius between about 10 and 100 times the average distance of each saidsurface from the axis of revolution thereof.
 35. The apparatus recitedin claim 23 in which said rolling surfaces of both said first and secondelements are surfaces developed by revolution of curved generatricesabout said first and second axes respectively, the surface generatrix ofone of said elements having a curve radius different from the curveradius of the surface generatrix of the other of said elements, therebyto ensure contact of said rolling surfaces at said two points.
 36. Theapparatus recited in claim 35 wherein the surface of revolution on oneof said elements is convex and the surface of revolution on the other isconcave in a meridianal plane.
 37. The apparatus recited in claim 23wherein said drive input means comprises reciprocable drive meansdisposed symmetrically about said first axis for reciprocation on axesparallel to said first axis and spaced equally therefrom, and includingmeans connecting said reciprocable drive means and said second elementto drive said second element conically about said first axis.
 38. Theapparatus recited in claim 23 wherein said second element is a solid ofrevolution having a center of mass coincident with said point of axesintersection, and means rotatable on said first axis and rotatablylinked with opposite ends of said second element.
 39. The apparatusrecited in claim 38 wherein said last mentioned means is a support forsaid second element fixing the position of said second axis relative tosaid first axis.
 40. The apparatus recited in claim 23 wherein therolling surfaces of said first element are symmetrically arranged withrespect to said first plane and wherein the rolling surfaces of saidsecond element are symmetrically arranged with respect to said secondplane.
 41. In a transmission device having a frame, drive input means,and drive output means, means interconnecting said input and outputmeans comprising:a first element on a first axis fixed in the frame andhaving rolling surfaces of revolution about said first axis, one suchrolling surface on each side of a first plane perpendicular to saidfirst axis at a point of axes intersection; a second element on a secondaxis intersecting said first axis at said point of axes intersection andhaving concentric journal and rolling surfaces of revolution about saidsecond axis, the rolling surfaces of said second element being disposedone on each side of a second plane passing through said point of axesintersection and perpendicular to said second axis .Iadd.said journalsurfaces also being disposed one on each side of said second plane;.Iaddend. support means rotatable on said first axis and journalled withsaid journal surfaces to support said second element .Iadd.in a mannerto positively establish the angle of intersection between said first andsecond axes and .Iaddend.for movement .Iadd.of said second element andsaid second axis .Iaddend.in a biconical path circumferentially of saidfirst axis, .[.the apex of.]. said biconical path .[.being.]..Iadd.having a central apex .Iaddend.coincident with said point of axesintersection .Iadd.and diverging oppositely from said central apex at arate of divergence established by the support of said second elementfrom said support means; .Iaddend. the respective rolling surfaces onsaid first and second elements being symmetrical with respect to saidpoint of axes intersection and being in rolling frictional engagement attwo points of contact in a third plane containing said first and secondaxes and located one on each side of said first plane; the rollingsurfaces of at least one of said elements being defined by generatricesinclined oppositely with respect to the axis of revolution thereof,thereby to provide in the respective rolling surfaces of said first andsecond elements a variable ratio of rolling surface radii at said pointsof contact for variation in the spacing of said points of contact fromsaid first plane; and means for forcing said respective rolling surfaceson said first and second elements into rolling friction engagement witheach other at said two points.
 42. The apparatus recited in claim 41wherein .[.said point .]. .Iadd.the angle .Iaddend.of first and secondaxes intersection is fixed with respect to said frame.
 43. The apparatusrecited in claim 41 wherein said means for forcing said respectiverolling surfaces into engagement at said two points includes thrustmeans to cause relative movement of said rolling surfaces of one of saidelements and said rolling surfaces of the other of said elements on therespective axes of said elements thereby to develop a force vectornormal to said surfaces.
 44. The apparatus recited in claim 41 whereinsaid rolling surfaces of said second element are defined by two annularrings concentric with said second axis, said annular rings being coupledfor angular movement with said second element but movable axially withrespect to each other on said second element in the longitudinaldirection of said second axis.
 45. The apparatus recited in claim 44including cone members to define said rolling surfaces of said firstelement as conical surfaces of revolution, said cone members beingcarried by said first element and movable toward and away from saidfirst plane.
 46. The apparatus recited in claim 45 wherein said annularrings are movable away from said second plane by inertial forces andmovable toward said second plane by axial extension of said conemembers.
 47. The apparatus recited in claim 46 in which the apicalhalf-angle of said respective conical surfaces of revolution is lessthan the angle of intersection of said first and second axes.
 48. Theapparatus recited in claim 45 wherein the apical half-angle of each ofsaid conical surfaces is less than the angle of said first and secondaxes intersection and including a spring system biasing said annularrings in a direction away from said second plane.
 49. The apparatusrecited in claim 45 including a pressurized fluid system for moving saidcone members axially away from said first plane.
 50. The apparatusrecited in claim 45 wherein said drive output means is a shaft rotatableon said first axis with said first element and including oppositelyinclined helicoidal ramps for moving said cone members toward and awayfrom said first plane.
 51. The apparatus recited in claim 44 comprisinggear linkage means to provide axial movement of said annular ringstoward and away from said second plane to vary the speed ratio of saidinput drive means and said output drive means.
 52. The apparatus recitedin claim 44 comprising sleeve means annularly adjustable with respect tosaid second element, said sleeve means being formed with ramps engagableby said annular rings thereby to move said annular rings axially towardand away from said second plane upon relative rotation of said sleevemeans and said second element.
 53. The apparatus recited in claim 41including means rotatably linking said second element to said frame. 54.The apparatus recited in claim 41, wherein said drive output meanscomprises an output shaft connected for rotation with said firstelement.
 55. The apparatus recited in claim 41 including means rotatablylinking said first element to said frame and including a rotatablecrankcase on said first axis around said support and said elements, andmeans rotatably linking said second element with said crankcase.
 56. Theapparatus recited in claim 53 wherein said rotatable linking meanscomprises a radial diaphragm interconnecting said second element andsaid frame in a manner to prevent relative circumferential movementbetween said second element and said frame but to allow relativemovement between said second element and said frame in a radialdirection at least at said two points of rolling friction.
 57. Theapparatus recited in claim 53 wherein said rotatable linking meanscomprises a conical gear fixed to said frame on said first axis andconverging at said point of first and second axes intersection, andanother conical gear fixed to said second element on said second axisand also converging on said point of axes intersection.
 58. Theapparatus recited in claim 55 wherein said drive input means is coupledfor rotation with said crankcase and said drive output means coupled forrotation with said support means.
 59. The apparatus recited in claim 57wherein the ratio of said conical .[.gearsis.]. .Iadd.gears is.Iaddend.1:1.
 60. The apparatus recited in claim 54 wherein said driveinput means comprises an input shaft connected for rotation with saidsupport means.
 61. The apparatus recited in claim 54 wherein said driveinput means comprises reciprocable drive means disposed symmetricallyabout said first axis for reciprocation on axes parallel to said firstaxis and spaced equally therefrom, and including means for connectingsaid reciprocable drive means and said second element to drive saidsecond element conically about said first axis.
 62. The apparatusrecited in claim 23 wherein the center of gravity of said second elementis located at said point of first and second axes intersection.
 63. Theapparatus recited in claim 41 wherein said means to support said secondelement is journalled in the frame for rotation on said first axis andjournalled with said second element for relative rotation of said secondelement and said support means about said second axis.
 64. The apparatusrecited in claim 63 wherein said means to support said second element isa torque transmitting member having opposite ends journalled in theframe on said first axis and a tube-like section extending between saidopposite ends.
 65. The apparatus recited in claim 64 wherein saidtube-like section is concentric with said second axis and journalleddirectly with said second element on opposite sides of said secondplane.
 66. The apparatus recited in claim 65 wherein said second elementincludes exterior journal surfaces concentric with said second axis andwherein the interior of said tube-like section is journalled with saidexterior journal surfaces.
 67. The apparatus recited in claim 65 whereinsaid tube-like section extends radially between said first and secondelements and is formed having diammetrically opposite, axially spacedopenings to enable said rolling surfaces to engage at said two points ofcontact.
 68. The apparatus recited in claim 67 wherein said secondelement includes interior journal surfaces concentric with said secondaxis and wherein said means to support said second element extendswithin and is journalled with said interior journal surfaces.
 69. In atransmission device having a frame, drive input means and drive outputmeans, means interconnecting said input and output means comprising:afirst element on a first axis fixed in the frame and having rollingsurfaces of revolution about said first axis, one such rolling surfaceon each side of a first plane perpendicular to said first axis at apoint of axes intersection; a second element having rolling surfaces ofrevolution about a second axis intersecting said first axis at saidpoint of axes intersection and at an angle of axes intersection, therolling surfaces of said second element being disposed one one each sideof a second plane passing through said point of axes intersection andperpendicular to said second axis; means to support said second element.Iadd.symmetrically on opposite sides of said point of axes intersection.Iaddend.from the frame to .[.establish.]. .Iadd.fix .Iaddend.said angleof intersection and so that the rolling surfaces on said elements may bein rolling friction engagement at two points of contact in a third planecontaining said first and second axes, said points of contact beinglocated symmetrically with respect to said point of axes intersection;the rolling surfaces of both said elements being symmetrical withrespect to said point of axes intersection and the rolling surfaces ofat least one of said elements being defined by generatrices inclinedoppositely with respect to the axis of revolution thereof, the rate ofinclination of said generatrices being related to said angle ofintersection so as to effect a ratio of rolling surface radii at saidpoints of contact dependent on the spacing of said points of contactfrom said point of axes intersection; means for forcing said respectiverolling surfaces on said first and second elements into rollingfrictional engagement with each other at said two points; and means toadjust simultaneously the spacing of said points of contact from saidpoint of axes intersection thereby to vary the speed ratio of the driveinput and drive output means.